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Add analytical derivatives for LieGroup.log_map() #114

Merged
merged 40 commits into from
Mar 14, 2022
Merged

Add analytical derivatives for LieGroup.log_map() #114

merged 40 commits into from
Mar 14, 2022

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fantaosha
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Motivation and Context

How Has This Been Tested

Types of changes

  • Docs change / refactoring / dependency upgrade
  • Bug fix (non-breaking change which fixes an issue)
  • New feature (non-breaking change which adds functionality)
  • Breaking change (fix or feature that would cause existing functionality to change)

Checklist

  • My code follows the code style of this project.
  • My change requires a change to the documentation.
  • I have updated the documentation accordingly.
  • I have read the CONTRIBUTING document.
  • I have completed my CLA (see CONTRIBUTING)
  • I have added tests to cover my changes.
  • All new and existing tests passed.

@fantaosha
add jacobians for the exp_map of vector and point
7f4bc0a
@fantaosha
Add dtype and device to Vector.exp_map and Point.exp_map
44c0a75
@fantaosha
add jacobians for SO2.exp_map
15c520e
@fantaosha
add SO3.dexp()
3afc3aa
@fantaosha
add SE2.dexp()
5d1c081
@fantaosha
add rotation part for SE3.dexp()
7e6234a
@fantaosha
fix backwards bug for SO3.log_map
1b4d268
@fantaosha
refactor SO3.log_map
831a22b
@fantaosha
fix some bugs in SO3.log_map
95d262d
@fantaosha
fix bugs in SE3.log_map()
1c9229d
@fantaosha
Merge branch 'taoshaf.fix_SO3_log_map' into taoshaf.add_jacobian_exp_map
19c186a
@fantaosha
Add SE3.dexp()
ca4a524
@fantaosha
Add tests for LieGroup.dexp
1c45511
@fantaosha
add dummy LieGroup.dlog()
a53843e
@fantaosha
Add Vector.dlog()
01d50d2
@fantaosha
Add SO3.dlog()
68cc364
@fantaosha
Add SE2.dlog()
0cfef2d
@fantaosha
Add SO3.dlog()
886bf53
@fantaosha
Update SO3.dlog
7b8b4fe
@fantaosha
add SE3.dlog
b9d9b4a
@fantaosha
add test_so2_dlog
771fc4a
@fantaosha
SO3.dlog() works around pi
4cff770
@fantaosha
change batch_size for test_so3.py
2c703d6
@fantaosha
rename small_theta to near_zero in SO3.py
a37eeb7
@fantaosha
rename some variables in SO3.py
d023fd3
@fantaosha
modify SO3.py
4bc7cdb
@fantaosha
improve the computation of SE3.log() around pi
b0fe486
@fantaosha
test SE3.dlog()
4fb05ec
@fantaosha fantaosha added the enhancement New feature or request label Mar 12, 2022
@fantaosha fantaosha requested a review from luisenp March 12, 2022 07:57
@fantaosha fantaosha self-assigned this Mar 12, 2022
@facebook-github-bot facebook-github-bot added the CLA Signed This label is managed by the Facebook bot. Authors need to sign the CLA before a PR can be reviewed. label Mar 12, 2022
@fantaosha fantaosha linked an issue Mar 12, 2022 that may be closed by this pull request
Add Jacobians for LieGroup.log_map #111
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@fantaosha
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Now the computation of SO3.log_map() and SE3.log_map() has been improved around pi and all the analytical derivatives tests are passed.

@fantaosha fantaosha changed the base branch from main to taoshaf.add_jacobian_exp_map March 12, 2022 09:44
Base automatically changed from taoshaf.add_jacobian_exp_map to main March 14, 2022 15:55
luisenp
luisenp approved these changes Mar 14, 2022
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LGMT! Left only a very minor comment.

theseus/geometry/tests/common.py Outdated Show resolved Hide resolved
@fantaosha fantaosha merged commit 23234a8 into main Mar 14, 2022
@fantaosha fantaosha deleted the taoshaf.add_jacobian_log_map branch March 14, 2022 20:44
ddetone pushed a commit that referenced this pull request Mar 29, 2022
@luisenp
Merge pull request #114 from fairinternal/lep.lm_optim
f92eaea 
Levenberg-Marquardt
suddhu pushed a commit to suddhu/theseus that referenced this pull request Jan 21, 2023
@fantaosha
Add analytical derivatives for LieGroup.log_map() (facebookresearch…
bf8d23b 
…#114)

* add jacobians for the exp_map of vector and point

* Add dtype and device to Vector.exp_map and Point.exp_map

* add jacobians for SO2.exp_map

* add SO3.dexp()

* add SE2.dexp()

* add rotation part for SE3.dexp()

* fix backwards bug for SO3.log_map

* refactor SO3.log_map

* fix some bugs in SO3.log_map

* fix bugs in SE3.log_map()

* Add SE3.dexp()

* Add tests for LieGroup.dexp

* add dummy LieGroup.dlog()

* Add Vector.dlog()

* Add SO3.dlog()

* Add SE2.dlog()

* Add SO3.dlog()

* Update SO3.dlog

* add SE3.dlog

* add test_so2_dlog

* SO3.dlog() works around pi

* change batch_size for test_so3.py

* rename small_theta to near_zero in SO3.py

* rename some variables in SO3.py

* modify SO3.py

* improve the computation of SE3.log() around pi

* test SE3.dlog()

* add tests for Vector.dexp()

* add tests for Point2/3.dexp()

* add tests for Vector/Point2/Point3.dlog

* imporve SO3.log_map() around pi

* improve the computation of SE3.log_map() aroun pi

* remove PGO datasets

* update .gitignore

* simplify check_projection_for_exp_map and check_projection_for_log_map
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Reviewers

@mhmukadam mhmukadam mhmukadam approved these changes

@luisenp luisenp luisenp approved these changes

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@fantaosha fantaosha

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Add Jacobians for LieGroup.log_map
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