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Add multi-batch support for SE(3) unary operators #512

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merged 14 commits into from
May 4, 2023
Merged

Add multi-batch support for SE(3) unary operators #512

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0303a18
Add multi-batch SE3.rand(), SE3.randn() and SE3.identity()
fantaosha May 3, 2023
92cd9cf
Added multi-batch SE3.exp()
fantaosha May 3, 2023
2bb456e
refactor the code with size + (1,) -> *size, 1
fantaosha May 3, 2023
4d88c9f
refactor multi-batch SE3.Adjoint()
fantaosha May 3, 2023
765c84f
Add multi-batch SE3.hat()
fantaosha May 3, 2023
e2deea3
fixed a bug in SO3.normalize()
fantaosha May 3, 2023
e4c4be1
size + (3, 3) -> *size, 3, 3
fantaosha May 4, 2023
2873600
a minor refactor of the code
fantaosha May 4, 2023
8aa423e
added SO3._jlog_impl_helper()
fantaosha May 4, 2023
0c7f1da
impleted and tested multi-batch SE3.log()
fantaosha May 4, 2023
60bbe34
implemented and tested multi-batch SE3.inverse()
fantaosha May 4, 2023
289fa84
implemented and tested multi-batch SE3.vee()
fantaosha May 4, 2023
cdf2b93
tensor.new_ones() -> constant
fantaosha May 4, 2023
44b2323
replace tensors with constants
fantaosha May 4, 2023
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refactor multi-batch SE3.Adjoint()
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@fantaosha
fantaosha committed May 3, 2023
commit 4d88c9f82357a22caf875a7275aa30a2c52d4720
3 changes: 2 additions & 1 deletion theseus/labs/lie/functional/se3_impl.py
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Original file line number Diff line number Diff line change
Expand Up @@ -587,14 +587,15 @@ def setup_context(cls, ctx, inputs, outputs):
@classmethod
def backward(cls, ctx, grad_output):
group: torch.Tensor = ctx.saved_tensors[0]
size = group.shape[:-2]
grad_input_rot = (
grad_output[..., :3, :3]
+ grad_output[..., 3:, 3:]
- SO3._hat_impl(group[..., 3]) @ grad_output[..., :3, 3:]
)
grad_input_t = SO3._project_impl(
grad_output[..., :3, 3:] @ group[..., :3].transpose(-2, -1)
).view(-1, 3, 1)
).view(*size, 3, 1)

return torch.cat((grad_input_rot, grad_input_t), dim=-1)

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