Switch SE3.transform_from and SE3.transform_to #104
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* add SE3 defintions * add initialization method * modify test_so3.check_SO3_to_quaternion to handle cases near pi * add SE3.hat and SE.vee * add SE3.adjoint * add SE3.adjoint, vee and hat * backup before switching to taoshaf.add_SE3 * add support for single x_y_z_quaternion * modify SO3 * Remove repeated if in SE3 construction * SE3.exp added but not tested * add SE3.log_map() * SE3.exp_map() and SE3.log_map() are tested * add SE3.compose() * simplify test_se3.py * modify test_se3.py * add SE3.transform_from and SE3.transform_to * add SE3.transform_from and SE3.transform_to * add the projection operators to SO2, SO3, SE3 * add SE2.project * add tests for the automatic differentiation on Lie groups * optimizer using Lie group tangent update works * Add comparisions for se2_inverse * update se2_inverse.py * use squared_norm in se2_inverse.py * add lr_scheduler for se2_inverse.py * Update se2_inverse.py * add notation to se2_inverse.py * modify LieGroupTensor * modify se2_inverse.py * improve the code for se2_inverse.py * add text for se2_inv.py * change the order of experiments in se2_inverse.py * introduce context variables * add set_lie_tangnet_enabled() * add Meta AI to se2_inverse.py * Add Lie Group Support to PyTorch Optimizers (facebookresearch#75) * optimizer using Lie group tangent update works * Add comparisions for se2_inverse * update se2_inverse.py * use squared_norm in se2_inverse.py * add lr_scheduler for se2_inverse.py * Update se2_inverse.py * add notation to se2_inverse.py * modify LieGroupTensor * modify se2_inverse.py * improve the code for se2_inverse.py * add text for se2_inv.py * change the order of experiments in se2_inverse.py * introduce context variables * add set_lie_tangnet_enabled() * add Meta AI to se2_inverse.py * change LieGroupContext to _LieGroupContext * move theseus/geometry/utils/utils.py to theseus/geometry/utils.py * remove utils folder * add LieGroup.rand() * add rand() to Vector * add rand() to Point2D and Point3D * add rand() to SO(3) * fix bugs in SO3.rand() * add SO2.rand() * add SE2.rand() * add SE3.rand() and change return types for rand() and exp_map() * chagne return type for exp_map() * add generator to LieGroup.rand() * add PI to constants.py * change angel and translation range * change test_se2.py * change test_se3.py * change test_so2.py * change test_SO3.py * change examples/se2_inverse.py * recover create_random_se2() to test_se2.py * move project() from LieGroup to Manifold * add is_sparse feature to Manifold._project_impl and Manifold._project_check * change Boolean to bool * change the range of Vector, Point2, Point3, and SE2 to [0, 1] * add LieGroup.randn() * add sparse project for SO2 * add sparse projection to SE2 * add sparse projection to SO3 * add sparse projection to SE3 * update test_project() in test_so3.py * update .gitignore * update test_projection in test_se2.py * update test_projection in test_so3.py * update test_projection in test_se3.py * add _project_impl to MockVar * add _project_impl to MockVector * add rand_se2, randn_so3 etc. * add project to AutoDiffFunction * AutoDiffFunction seems to work for LieGroup * add rand and randn to __init__.py * fixed bugs in test_manifold.py * add check_projection for unit tests * update unit tests for test_projection() * add comments to check_projection * rename check_projection to check_projection_for_rotate_and_transform * add check_projection_for_compose * add tests for check_projection_for_compose * add check_projection_for_inverse * fix early truncation error for SE3.inverse() * add tests for check_projection_for_inverse() * add checks for the returns * add mannual seed for test_so3.py * add rand seed to test_se3.py * fixed merge conflicts * add value tests for SO3.rotate * fixed bugs in SE2.transform_from and SE2.transform_to * update test_se2.py * switch SE3.transform_from and SE3.transform_to * update tests * Fixed a bug in numerical errors
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Motivation and Context
Switch
SE3.transform_from()andSE3.transform_to()to be consistent with the convention ofSE2.@exhaustin @maurimo please let me know if your code has used
SE3.transform_fromandSE3.transform_to. Thanks!How Has This Been Tested
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