Liecasadi - liecasadi implements Lie groups operation written in CasADi

Related tags

Deep Learningliecasadi
Overview

liecasadi

liecasadi implements Lie groups operation written in CasADi, mainly directed to optimization problem formulation.

Inspired by A micro Lie theory for state estimation in robotics and the library Manif.

Install

pip install "liecasadi @ git+https://github.com/ami-iit/lie-casadi.git"

Implemented Groups

Group Description
SO3 3D Rotations
SE3 3D Rigid Transform

Example

from liecasadi import SE3, SO3, SE3Tangent, SO3Tangent

# Random quaternion + normalization
quat = (np.random.rand(4) - 0.5) * 5
quat = quat / np.linalg.norm(quat)
# Random vector
vector3d = (np.random.rand(3) - 0.5) * 2 * np.pi

# Create SO3 object
rotation = SO3(quat)

# Create Identity
identity = SO3.Identity()

# Create SO3Tangent object
tangent = SO3Tangent(vector3d)

# Random translation vector
pos = (np.random.rand(3) - 0.5) * 5

# Create SE3 object
transform = SE3(pos=pos, xyzw=quat)

# Random vector
vector6d = (np.random.rand(3) - 0.5) * 5

# Create SE3Tangent object
tangent = SO3Tangent(vector6d)
You might also like...
Accelerated SMPL operation, commonly used in generate 3D human mesh, STAR included.

SMPL2 An enchanced and accelerated SMPL operation which commonly used in 3D human mesh generation. It takes a poses, shapes, cam_trans as inputs, outp

JinTian 20 Oct 17, 2022
A python-image-classification web application project, written in Python and served through the Flask Microframework. This Project implements the VGG16 covolutional neural network, through Keras and Tensorflow wrappers, to make predictions on uploaded images.
A python-image-classification web application project, written in Python and served through the Flask Microframework. This Project implements the VGG16 covolutional neural network, through Keras and Tensorflow wrappers, to make predictions on uploaded images.

Image Classification in Python Implementing image classification in Flask using Keras. The VGG16 is a convolution neural network model architecture th

Gerald Maduabuchi 19 Dec 12, 2022
git《Tangent Space Backpropogation for 3D Transformation Groups》(CVPR 2021) GitHub:1]
git《Tangent Space Backpropogation for 3D Transformation Groups》(CVPR 2021) GitHub:1]

LieTorch: Tangent Space Backpropagation Introduction The LieTorch library generalizes PyTorch to 3D transformation groups. Just as torch.Tensor is a m

Princeton Vision & Learning Lab 482 Jan 6, 2023
Nicely is a real-time Feedback and Intervention Program Depression is a prevalent issue across all age groups, socioeconomic classes, and cultural identities.
Nicely is a real-time Feedback and Intervention Program Depression is a prevalent issue across all age groups, socioeconomic classes, and cultural identities.

Nicely is a real-time Feedback and Intervention Program Depression is a prevalent issue across all age groups, socioeconomic classes, and cultural identities.

null 1 Jan 16, 2022
Model search is a framework that implements AutoML algorithms for model architecture search at scale
Model search is a framework that implements AutoML algorithms for model architecture search at scale

Model search (MS) is a framework that implements AutoML algorithms for model architecture search at scale. It aims to help researchers speed up their exploration process for finding the right model architecture for their classification problems (i.e., DNNs with different types of layers).

Google 3.2k Dec 31, 2022
Implements Gradient Centralization and allows it to use as a Python package in TensorFlow
Implements Gradient Centralization and allows it to use as a Python package in TensorFlow

Gradient Centralization TensorFlow This Python package implements Gradient Centralization in TensorFlow, a simple and effective optimization technique

Rishit Dagli 101 Nov 1, 2022
Implements MLP-Mixer: An all-MLP Architecture for Vision.
Implements MLP-Mixer: An all-MLP Architecture for Vision.

MLP-Mixer-CIFAR10 This repository implements MLP-Mixer as proposed in MLP-Mixer: An all-MLP Architecture for Vision. The paper introduces an all MLP (

Sayak Paul 51 Jan 4, 2023
QueryFuzz implements a metamorphic testing approach to test Datalog engines.
QueryFuzz implements a metamorphic testing approach to test Datalog engines.

Datalog is a popular query language with applications in several domains. Like any complex piece of software, Datalog engines may contain bugs. The mo

null 34 Sep 10, 2022
This repository implements and evaluates convolutional networks on the Möbius strip as toy model instantiations of Coordinate Independent Convolutional Networks.
This repository implements and evaluates convolutional networks on the Möbius strip as toy model instantiations of Coordinate Independent Convolutional Networks.

Orientation independent Möbius CNNs This repository implements and evaluates convolutional networks on the Möbius strip as toy model instantiations of

Maurice Weiler 59 Dec 9, 2022
Comments
  • Problems running the example

    Problems running the example

    I tried installing the library as documented in the README and running the example.

    By installing the example as documented in the README:

    (castest) [email protected]:~$ pip install "liecasadi @ git+https://github.com/ami-iit/lie-casadi.git"
Collecting liecasadi@ git+https://github.com/ami-iit/lie-casadi.git
  Cloning https://github.com/ami-iit/lie-casadi.git to /tmp/pip-install-jld36pa2/liecasadi_02974e872e9a41da95da2ba742a2bb6a
  Running command git clone --filter=blob:none --quiet https://github.com/ami-iit/lie-casadi.git /tmp/pip-install-jld36pa2/liecasadi_02974e872e9a41da95da2ba742a2bb6a
  Resolved https://github.com/ami-iit/lie-casadi.git to commit 4f538f354781243e600ce771c9236a43df83745d
  Installing build dependencies ... done
  Getting requirements to build wheel ... done
  Preparing metadata (pyproject.toml) ... done
Collecting numpy>=1.20
  Using cached numpy-1.22.1-cp38-cp38-manylinux_2_17_x86_64.manylinux2014_x86_64.whl (16.8 MB)
Collecting casadi
  Using cached casadi-3.5.5-cp38-none-manylinux1_x86_64.whl (34.2 MB)
Building wheels for collected packages: liecasadi
  Building wheel for liecasadi (pyproject.toml) ... done
  Created wheel for liecasadi: filename=liecasadi-0.1.dev39-py3-none-any.whl size=7882 sha256=078ab323d4479d39e5aa0a577a6150df54d9224d416b94c89d26adc5db0616be
  Stored in directory: /tmp/pip-ephem-wheel-cache-v0j9nv_a/wheels/7a/26/6a/62ad9ab4f348e178408f7d79d44555ed51514496949fcdb644
Successfully built liecasadi
Installing collected packages: casadi, numpy, liecasadi
Successfully installed casadi-3.5.5 liecasadi-0.1.dev39 numpy-1.22.1

    You can see that casadi got installed via pip.

    Then, I tried to run the example and the example fails with:

    (castest) [email protected]:~/liecasadi/examples$ python manifold_optimization.py
Traceback (most recent call last):
  File "manifold_optimization.py", line 4, in <module>
    import matplotlib.pyplot as plt
ModuleNotFoundError: No module named 'matplotlib'

    This is due to matplotlib missing, and it make sense that this is not part of the dependencies of the library. If I then install matplot lib, then the example fails with:

    (castest) [email protected]:~/liecasadi/examples$ python manifold_optimization.py
Traceback (most recent call last):
  File "manifold_optimization.py", line 9, in <module>
    from liecasadi import SO3, SO3Tangent
  File "/home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages/liecasadi/__init__.py", line 3, in <module>
    from .so3 import SO3, SO3Tangent
  File "/home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages/liecasadi/so3.py", line 9, in <module>
    from attr import field
ModuleNotFoundError: No module named 'attr'

    This is a bit more tricky, as it requires to install the attrs package (note the final s, as the attr package will not work).

    After installing also attr, I get this error:

    (castest) [email protected]:~/liecasadi/examples$ python manifold_optimization.py
Traceback (most recent call last):
  File "manifold_optimization.py", line 21, in <module>
    opti.subject_to(quat[k + 1] == (vector_SO3 + rotation_SO3).as_quat())
  File "/home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages/casadi/casadi.py", line 28146, in subject_to
    ret = self._subject_to(*args)
  File "/home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages/casadi/casadi.py", line 27470, in _subject_to
    return _casadi.Opti__subject_to(self, *args)
RuntimeError: Error in Opti::subject_to [OptiNode] at .../casadi/core/optistack.cpp:96:
.../casadi/core/optistack_internal.cpp:905: Assertion "!g.is_constant()" failed:
You passed a constant to `subject_to`. You need a symbol to form a constraint.

    Furthermore, even if I did not reached this point, I noticed that the example refers ma27 (https://github.com/ami-iit/liecasadi/blob/c79d29e87d6d654e78d258a10bac9b2bbae35773/examples/manifold_optimization.py#L47), but by following the instruction of the repo casadi gets installed by pip, and I do not think that that version of casadi has hsl support enabled.

    Environments in which I run the tests:

    (castest) [email protected]:~/liecasadi/examples$ mamba list
# packages in environment at /home/traversaro/mambaforge/envs/castest:
#
# Name                    Version                   Build  Channel
_libgcc_mutex             0.1                 conda_forge    conda-forge
_openmp_mutex             4.5                       1_gnu    conda-forge
attrs                     21.4.0                   pypi_0    pypi
ca-certificates           2021.10.8            ha878542_0    conda-forge
casadi                    3.5.5                    pypi_0    pypi
cycler                    0.11.0                   pypi_0    pypi
fonttools                 4.29.1                   pypi_0    pypi
kiwisolver                1.3.2                    pypi_0    pypi
ld_impl_linux-64          2.36.1               hea4e1c9_2    conda-forge
libffi                    3.4.2                h7f98852_5    conda-forge
libgcc-ng                 11.2.0              h1d223b6_12    conda-forge
libgomp                   11.2.0              h1d223b6_12    conda-forge
libnsl                    2.0.0                h7f98852_0    conda-forge
libstdcxx-ng              11.2.0              he4da1e4_12    conda-forge
libzlib                   1.2.11            h36c2ea0_1013    conda-forge
liecasadi                 0.1.dev39                pypi_0    pypi
matplotlib                3.5.1                    pypi_0    pypi
ncurses                   6.3                  h9c3ff4c_0    conda-forge
numpy                     1.22.1                   pypi_0    pypi
openssl                   3.0.0                h7f98852_2    conda-forge
packaging                 21.3                     pypi_0    pypi
pillow                    9.0.0                    pypi_0    pypi
pip                       22.0.2             pyhd8ed1ab_0    conda-forge
pyparsing                 3.0.7                    pypi_0    pypi
python                    3.8.12          h0744224_3_cpython    conda-forge
python-dateutil           2.8.2                    pypi_0    pypi
python_abi                3.8                      2_cp38    conda-forge
readline                  8.1                  h46c0cb4_0    conda-forge
setuptools                60.6.0           py38h578d9bd_0    conda-forge
six                       1.16.0                   pypi_0    pypi
sqlite                    3.37.0               h9cd32fc_0    conda-forge
tk                        8.6.11               h27826a3_1    conda-forge
wheel                     0.37.1             pyhd8ed1ab_0    conda-forge
xz                        5.2.5                h516909a_1    conda-forge
zlib                      1.2.11            h36c2ea0_1013    conda-forge
(castest) [email protected]:~/liecasadi/examples$ pip list --verbose
Package         Version   Location                                                             Installer
--------------- --------- -------------------------------------------------------------------- ---------
attrs           21.4.0    /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
casadi          3.5.5     /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
cycler          0.11.0    /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
fonttools       4.29.1    /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
kiwisolver      1.3.2     /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
liecasadi       0.1.dev39 /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
matplotlib      3.5.1     /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
numpy           1.22.1    /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
packaging       21.3      /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
Pillow          9.0.0     /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
pip             22.0.2    /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages
pyparsing       3.0.7     /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
python-dateutil 2.8.2     /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
setuptools      60.6.0    /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages
six             1.16.0    /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages pip
wheel           0.37.1    /home/traversaro/mambaforge/envs/castest/lib/python3.8/site-packages
    opened by traversaro 6
  • Fix manifpy test dependency

    Fix manifpy test dependency

    In order to check the correctness of the computations, I wrote some tests against Manif.

    It seems manifpy cannot be installed via PyPI. However, they provide installation instruction in https://github.com/artivis/manif/blob/devel/docs/pages/python/Quick-start.md.

    Although I can install the library using conda on my system, I'm not able to move the same logic in a workflow. manifpy seems to be installed but it is not found:

    ModuleNotFoundError: No module named 'manifpy'

    Am I doing something wrong?

    @traversaro @GiulioRomualdi do you have any suggestions?

    opened by Giulero 4
  • Remove `R_from_rpy(rpy)` method

    Remove `R_from_rpy(rpy)` method

    The method was badly implemented. Moreover, it's not really useful (it should be ok to call SO3.from_euler(rpy).as_matrix().

    • changed from_angle to from_euler
    • implemented to_euler
    opened by Giulero 1
Releases(v0.0.4)

  • v0.0.4(Nov 21, 2022)

    What's Changed

    • Remove R_from_rpy(rpy) method and add from/to Euler methods by @Giulero in https://github.com/ami-iit/liecasadi/pull/6

    Full Changelog: https://github.com/ami-iit/liecasadi/compare/v0.0.3...v0.0.4

    Source code(tar.gz)
    Source code(zip)

  • v0.0.3(Oct 12, 2022)

    What's Changed

    • Add quaternion derivative by @Giulero in https://github.com/ami-iit/liecasadi/pull/4
    • Add dual quaternion class by @Giulero in https://github.com/ami-iit/liecasadi/pull/5

    Full Changelog: https://github.com/ami-iit/liecasadi/compare/v0.0.2...v0.0.3

    Source code(tar.gz)
    Source code(zip)

  • v0.0.2(May 18, 2022)

    What's Changed

    • Deploy library on PyPi by @Giulero in https://github.com/ami-iit/liecasadi/pull/3

    Full Changelog: https://github.com/ami-iit/liecasadi/compare/v0.0.1...v0.0.2

    Source code(tar.gz)
    Source code(zip)

  • v0.0.1(Feb 16, 2022)

Owner
Artificial and Mechanical Intelligence
Artificial and Mechanical Intelligence
GitHub Repository
Voxel-based Network for Shape Completion by Leveraging Edge Generation (ICCV 2021, oral)

Voxel-based Network for Shape Completion by Leveraging Edge Generation This is the PyTorch implementation for the paper "Voxel-based Network for Shape

10 Dec 04, 2022
A package for music online and offline rhythmic information analysis including music Beat, downbeat, tempo and meter tracking.

BeatNet A package for music online and offline rhythmic information analysis including music Beat, downbeat, tempo and meter tracking. This repository

Mojtaba Heydari 157 Dec 27, 2022
Facebook AI Research Sequence-to-Sequence Toolkit written in Python.

Fairseq(-py) is a sequence modeling toolkit that allows researchers and developers to train custom models for translation, summarization, language mod

20.5k Jan 08, 2023
Pytorch implementation of "MOSNet: Deep Learning based Objective Assessment for Voice Conversion"

MOSNet pytorch implementation of "MOSNet: Deep Learning based Objective Assessment for Voice Conversion" https://arxiv.org/abs/1904.08352 Dependency L

9 Nov 18, 2022
PyTorch framework for Deep Learning research and development.

Accelerated DL & RL PyTorch framework for Deep Learning research and development. It was developed with a focus on reproducibility, fast experimentati

Catalyst-Team 29 Jul 13, 2022
Source code of CIKM2021 Long Paper "PSSL: Self-supervised Learning for Personalized Search with Contrastive Sampling".

PSSL Source code of CIKM2021 Long Paper "PSSL: Self-supervised Learning for Personalized Search with Contrastive Sampling". It consists of the pre-tra

2 Dec 21, 2021
Python TFLite scripts for detecting objects of any class in an image without knowing their label.

Python TFLite scripts for detecting objects of any class in an image without knowing their label.

Ibai Gorordo 42 Oct 07, 2022
This repository is an implementation of our NeurIPS 2021 paper (Stylized Dialogue Generation with Multi-Pass Dual Learning) in PyTorch.

MPDL---TODO This repository is an implementation of our NeurIPS 2021 paper (Stylized Dialogue Generation with Multi-Pass Dual Learning) in PyTorch. Ci

CodebaseLi 3 Nov 27, 2022
A Python library for Deep Graph Networks

PyDGN Wiki Description This is a Python library to easily experiment with Deep Graph Networks (DGNs). It provides automatic management of data splitti

Federico Errica 194 Dec 22, 2022
Contenido del curso Bases de datos del DCC PUC versión 2021-2

IIC2413 - Bases de Datos Tabla de contenidos Equipo Profesores Ayudantes Contenidos Calendario Evaluaciones Resumen de notas Foro Política de integrid

54 Nov 23, 2022
Pytorch implementation of Value Iteration Networks (NIPS 2016 best paper)

VIN: Value Iteration Networks A quick thank you A few others have released amazing related work which helped inspire and improve my own implementation

Kent Sommer 297 Dec 26, 2022
This repository contains the source code for the paper First Order Motion Model for Image Animation

!!! Check out our new paper and framework improved for articulated objects First Order Motion Model for Image Animation This repository contains the s

13k Jan 09, 2023
Spatial-Temporal Transformer for Dynamic Scene Graph Generation, ICCV2021

Spatial-Temporal Transformer for Dynamic Scene Graph Generation Pytorch Implementation of our paper Spatial-Temporal Transformer for Dynamic Scene Gra

Yuren Cong 119 Jan 01, 2023
Structured Data Gradient Pruning (SDGP)

Structured Data Gradient Pruning (SDGP) Weight pruning is a technique to make Deep Neural Network (DNN) inference more computationally efficient by re

Bradley McDanel 10 Nov 11, 2022
scAR (single-cell Ambient Remover) is a package for data denoising in single-cell omics.

scAR scAR (single cell Ambient Remover) is a package for denoising multiple single cell omics data. It can be used for multiple tasks, such as, sgRNA

19 Nov 28, 2022
PyTorch code for our paper "Image Super-Resolution with Non-Local Sparse Attention" (CVPR2021).

Image Super-Resolution with Non-Local Sparse Attention This repository is for NLSN introduced in the following paper "Image Super-Resolution with Non-

143 Dec 28, 2022
Leveraging Social Influence based on Users Activity Centers for Point-of-Interest Recommendation

SUCP Leveraging Social Influence based on Users Activity Centers for Point-of-Interest Recommendation () Direct Friends (i.e., users who follow each o

Kosar 8 Nov 26, 2022
2021:"Bridging Global Context Interactions for High-Fidelity Image Completion"

TFill arXiv | Project This repository implements the training, testing and editing tools for "Bridging Global Context Interactions for High-Fidelity I

Chuanxia Zheng 111 Jan 08, 2023
Source code for "OmniPhotos: Casual 360° VR Photography"

OmniPhotos: Casual 360° VR Photography Project Page | Video | Paper | Demo | Data This repository contains the source code for creating and viewing Om

Christian Richardt 144 Dec 30, 2022
People log into different sites every day to get information and browse through these sites one by one

HyperLink People log into different sites every day to get information and browse through these sites one by one. And they are exposed to advertisemen

0 Feb 17, 2022