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Integrate with Manifolds.jl #244

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dehann opened this issue Feb 20, 2020 · 11 comments
Closed

Integrate with Manifolds.jl #244

dehann opened this issue Feb 20, 2020 · 11 comments

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@dehann
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@dehann dehann commented Feb 20, 2020

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@dehann
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@dehann dehann commented Feb 20, 2020

@Affie, if I understand your earlier comment right -- Optim.jl currently has support for Sphere or Euclidean and other Manifolds.jl but not SE(n) (Special Euclidean) yet?

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@Affie
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@Affie Affie commented Feb 20, 2020

Optim.jl currently has support for Sphere or Euclidean and other Manifolds.jl but not SE(n) (Special Euclidean) yet?

Optim.jl does not support Manifolds.jl yet as far as I can tell.

SE(n)

Thanks, I missed SE in Manifolds.jl, I didn't think to look in decorators.

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@Affie
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@Affie Affie commented Feb 20, 2020

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@kellertuer
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@kellertuer kellertuer commented Feb 20, 2020

Cool, that you already have this in your plans!

Some simple integration to Optim.jl will happen at some time, for example a gradient descent is quite straight forward.
(Biased side note): For more advanced algorithms doing Optimization on Manifold, see Manopt.jl, which will also switch to be based on Manifolds.jl as soon as there is a public release.

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@dehann
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@dehann dehann commented May 13, 2020

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@dehann
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@dehann dehann commented Jun 19, 2020

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@dehann
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@dehann dehann commented Oct 19, 2020

xref #341

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@dehann
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@dehann dehann commented Nov 21, 2020

xref, need to rebuild densities starting from JuliaRobotics/ApproxManifoldProducts.jl#41

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dehann added a commit that referenced this issue Feb 15, 2021
dehann added a commit to JuliaRobotics/IncrementalInference.jl that referenced this issue Mar 7, 2021
@dehann dehann removed this from the v0.x.0 milestone Mar 29, 2021
@dehann dehann added this to the v0.15.0 milestone Mar 29, 2021
@dehann
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@dehann dehann commented Mar 29, 2021

v0.15.0 closes this issue (from RoME.jl perspective). Major future work remains deeper inside and will be tracked at JuliaRobotics/ApproxManifoldProducts.jl#41

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@dehann dehann closed this Mar 29, 2021
@dehann
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@dehann dehann commented Mar 29, 2021

PS, the local manifolds, SE2E2_Manifold and BearingRange_Manifold are not yet consolidated with the standard Manifolds.jl interface format. That work still remains to be done. The main delivery here is that all variables and surrounding code from RoME IIF AMP not expect and use <:Manifold.

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3 participants