Skip to content

Implement Equivariant Filter Bias example in Python #2054

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Merged
merged 6 commits into from
Mar 14, 2025
Merged

Implement Equivariant Filter Bias example in Python #2054

merged 6 commits into from
Mar 14, 2025

Conversation

jenniferoum
Copy link
Contributor

An implementation of Alessandro Fornasier's ABC-EqF in GTSAM.

  • EqF.py is a module containing general function and class definitions for the equivariant filter
  • EqF.ipynb is a notebook containing an example implementation of the EqF code using sample data
  • EqFdata.csv is sample measurement data provided by Fornasier in his ABC-EqF

@ProfFan ProfFan requested a review from dellaert March 11, 2025 03:26
@dellaert
Copy link
Member

Awesome. Before I review, do you want to use the new “Hat” operators I added yesterday? (instead of wedge)

@dellaert
Copy link
Member

gtsam/gtsam/geometry/geometry.i

Line 381 in 33d2262

static gtsam::Matrix Hat(const gtsam::Vector& xi);

@dellaert
Copy link
Member

Also, csv file should go in examples/Data. You can then call FindExampleDataFile (or something like that, declared in datasets.h) - which will work across platforms.

@jenniferoum
Copy link
Contributor Author

Yeah, I will work on adding in the new hat and vee operators.

dellaert
dellaert approved these changes Mar 12, 2025
View reviewed changes
Copy link
Member

@dellaert dellaert left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

This is awesome! A few minor comments. I'll approve but will wait to merge until they have been addressed. (or tell me why you think it's ok to leave as is)

@dellaert dellaert merged commit 7435127 into borglab:develop Mar 14, 2025
31 checks passed
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@dellaert dellaert dellaert approved these changes

Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
2 participants
@jenniferoum @dellaert