Add SO3 support #46
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Add SO3 support #46
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* add SO3.hat() and SO3.vee() * add SO3 and unit quaternion check for liegroup.SO3 * add data initialization to SO3 * fix a bug * add test_so3.py for so3.adjoint * modify so3._SO3_matrix_check * Add SO3.exp_map() and SO3.log_map() (#48) * so3.exp_map seems to work * so3._log_map_impl() are added but there are bugs to handle pi * bug fixed for SO3._log_map_impl() * SO3.log_map() works * SO3.exp_map() and SO3.log_map() tested * add extra tests for SO3.log_map() * use atan2() in SO3.log_map() to improve numerical stability * add check_SO3_log_map() to test_SO3.py to round 2*pi * add additional tests for test_SO3.py * add comments and simplify the code * add additional tests for SO3.log_map() * simplify the code for SO3.log_map() when theta is near pi * Update tolerance to handle cases near pi * replace self.data with self for simplification * rewrite SO3.vee() * Taoshaf.check se2 (#49) * autograd works for SE2.log() using torch.where() * replace cth and sth with cosine and sine in SE2 * update SE2.exp() * simplify the code for SE2.exp() and SE2.log() * Taoshaf.rewrite so3 exp and log (#50) * update SO3.log * update so3.exp
mhmukadam
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Jan 31, 2022
mhmukadam
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Jan 31, 2022
mhmukadam
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Jan 31, 2022
mhmukadam
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mhmukadam
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mhmukadam
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mhmukadam
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mhmukadam
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Looks good! Nice work on your first set of PRs @fantaosha and coordinating with @luisenp.
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Please refer to #59 for |
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I think it is important to add some tests for I'm not sure if this will be a major issue for GPU which mainly implements |
This was referenced Jan 31, 2022
suddhu
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Jan 21, 2023
* Create a stub class for SO3 * Added dof for SO3. * add SO3.hat() and SO3.vee() (facebookresearch#47) * add SO3.hat() and SO3.vee() * add SO3 and unit quaternion check for liegroup.SO3 * add data initialization to SO3 * fix a bug * add test_so3.py for so3.adjoint * modify so3._SO3_matrix_check * Add SO3.exp_map() and SO3.log_map() (facebookresearch#48) * so3.exp_map seems to work * so3._log_map_impl() are added but there are bugs to handle pi * bug fixed for SO3._log_map_impl() * SO3.log_map() works * SO3.exp_map() and SO3.log_map() tested * add extra tests for SO3.log_map() * use atan2() in SO3.log_map() to improve numerical stability * add check_SO3_log_map() to test_SO3.py to round 2*pi * add additional tests for test_SO3.py * add comments and simplify the code * add additional tests for SO3.log_map() * simplify the code for SO3.log_map() when theta is near pi * Update tolerance to handle cases near pi * replace self.data with self for simplification * rewrite SO3.vee() * Taoshaf.check se2 (facebookresearch#49) * autograd works for SE2.log() using torch.where() * replace cth and sth with cosine and sine in SE2 * update SE2.exp() * simplify the code for SE2.exp() and SE2.log() * Taoshaf.rewrite so3 exp and log (facebookresearch#50) * update SO3.log * update so3.exp * fix the lint errors Co-authored-by: Taosha Fan <6612911+fantaosha@users.noreply.github.com> Co-authored-by: Taosha Fan <fantaosha@gmail.com>
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Motivation and Context
Part of work for adding support for 3D geometry (SO3 and SE3).
How Has This Been Tested
This class is just a stub with no new functionality added, just outlining the core abstract method that need to be filled out.
Types of changes
Checklist