Functions

is_lietensor	Check whether an instance or object is a LieTensor or not.
is_SE3	Check whether an instance or object is an SE3 Type LieTensor or not.
hasnan	Checks whether a deep nested list of tensors contains Nan or not.
add	Adds other, scaled by alpha, to input LieTensor.
add_	Inplace version of pypose.add().
mul	Multiply input LieTensor by other.
bvv	Performs batched vector-vector product, which results in matrices.
bmv	Performs batched matrix-vector product.
bvmv	Performs batched vector-matrix-vector product.
pm	Returns plus or minus (\(\pm\)) states for tensor.
Exp	The Exponential map for LieTensor (Lie Algebra).
Log	The Logarithm map for LieTensor (Lie Group).
Inv	The inverse of the input lieTensor.
Retr	Perform batched retraction with a given direction.
Act	Apply the batched transform to points in Euclidean or homogeneous coordinates.
Adj	The dot product between the Adjoint matrix at the point given by an input (Lie Group) and the second point (Lie Algebra).
AdjT
Jinvp	The dot product between left Jacobian inverse at the point given by input (Lie Group) and second point (Lie Algebra).
Jr	The batched right Jacobian of a LieTensor.
randn_so3	Returns so3_type LieTensor filled with random numbers.
randn_SO3	Returns SO3_type LieTensor filled with the Exponential map of the random so3_type LieTensor.
randn_se3	Returns se3_type LieTensor filled with random numbers.
randn_SE3	Returns SE3_type LieTensor filled with the Exponential map of the random se3_type LieTensor generated using pypose.randn_se3().
randn_sim3	Returns sim3_type LieTensor filled with random numbers.
randn_Sim3	Returns Sim3_type LieTensor filled with the Exponential map of the random sim3_type LieTensor generated using randn_sim3().
randn_rxso3	Returns rxso3_type LieTensor filled with random numbers.
randn_RxSO3	Returns RxSO3_type LieTensor filled with the Exponential map of the random rxso3_type LieTensor.
randn_like	Returns a LieTensor with the same size as input that is filled with random LieTensor with the corresponding input.ltype.
identity_so3	Returns identity so3_type LieTensor with the given lsize.
identity_SO3	Returns identity SO3_type LieTensor with the given lsize.
identity_se3	Returns identity se3_type LieTensor with the given lsize.
identity_SE3	Returns identity SE3_type LieTensor with the given lsize.
identity_sim3	Returns identity sim3_type LieTensor with the given lsize.
identity_Sim3	Returns identity Sim3_type LieTensor with the given lsize.
identity_rxso3	Returns identity rxso3_type LieTensor with the given lsize.
identity_RxSO3	Returns identity RxSO3_type LieTensor with the given lsize.
identity_like	Returns identity LieTensor with the same lsize and ltype as the given LieTensor.
cumprod	Returns the cumulative product (@) of LieTensor along a dimension.
cumprod_	Inplace version of pypose.cumprod()
cummul	Returns the cumulative multiplication (*) of LieTensor along a dimension.
cummul_	Inplace version of pypose.cummul()
cumops	Returns the cumulative user-defined operation of LieTensor along a dimension.
cumops_	Inplace version of pypose.cumops()
reprojerr	Calculates batched per-pixel reprojection error (pixel distance) for points either in the camera or world frame given camera intrinsics or extrinsics, respectively.
svdtf	Computes the rigid transformation ( \(SE(3)\) ) between two sets of associated point clouds (source and target) using Singular Value Decomposition (SVD).
chspline	Cubic Hermite Spline, a piecewise-cubic interpolator matching values and first derivatives.
bspline	B-spline interpolation, which currently only supports SE3 LieTensor.
random_filter	Randomly sample a number of points from a batched point cloud.
voxel_filter	Perform voxel filtering on a point cloud to reduce the number of points by grouping them into voxels and selecting a representative point for each voxel.
nbr_filter	Filter point outliers by checking if a point has less than n neighbors (nbr) within a radius.
knn_filter	Filter batched points by averaging its k-nearest neighbors and that point, removing points if number of neighbors within radius is less than k.