Lie groups in JAX

Dan Zheng

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Jan 15, 2021, 4:15:14 AM1/15/21

to Swift for TensorFlow, Frank Dellaert, iang...@gmail.com

SwiftFusion is factor graphs in Swift, including geometry types (2D and 3D poses and rotations).

Check out the related library for Lie groups in JAX: https://github.com/brentyi/jaxlie

Dan

Dan Zheng

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Jan 15, 2021, 4:17:28 AM1/15/21

to Swift for TensorFlow, Frank Dellaert, jiang...@gmail.com

Apparently, jaxlie is "Heavily inspired by (and some operations ported from) the C++ library Sophus."

Has anyone heard of Sophus? Wonder how it compares with GTSam.

Dan

Dan Zheng

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Jan 15, 2021, 4:18:10 AM1/15/21

to Swift for TensorFlow, Frank Dellaert, jiang...@gmail.com

Sorry, GTSAM.

Dan

Dan Zheng

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Jan 15, 2021, 10:09:10 AM1/15/21

to Frank Dellaert, Swift for TensorFlow, Fan Jiang

That's neat!

Dan

On Fri, Jan 15, 2021 at 10:01 AM Frank Dellaert <dell...@google.com> wrote:

Yeah, Sophus is a neat little header library. If it was around when we built GTSAM we might have used it
F

Dane christian Neilson

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Nov 28, 2023, 12:09:50 PM11/28/23

to Swift for TensorFlow, danie...@google.com, Swift for TensorFlow, Fan Jiang, Frank Dellaert

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