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<div class="section" id="liegroups-torch"> |
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<h1>liegroups.torch<a class="headerlink" href="#liegroups-torch" title="Permalink to this headline">¶</a></h1> |
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<p>The PyTorch implementation uses torch.Tensor as the backend linear algebra library, which allows the user to on the GPU or CPU and integrate with other aspects of PyTorch.</p> |
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<p>This version provides sensible options for batching the transformations themselves, as well as anything they might operate on, and is generally agnostic to the specific Tensor type (e.g., given a torch.cuda.FloatTensor as input, the output will also be a torch.cuda.FloatTensor).</p> |
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<dl class="attribute"> |
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<dt id="liegroups.torch.SO2"> |
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<code class="sig-prename descclassname">liegroups.torch.</code><code class="sig-name descname">SO2</code><a class="headerlink" href="#liegroups.torch.SO2" title="Permalink to this definition">¶</a></dt> |
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<dd><p>alias of <a class="reference internal" href="#liegroups.torch.so2.SO2Matrix" title="liegroups.torch.so2.SO2Matrix"><code class="xref py py-class docutils literal notranslate"><span class="pre">liegroups.torch.so2.SO2Matrix</span></code></a></p> |
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</dd></dl> |
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<dl class="class"> |
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<dt id="liegroups.torch.so2.SO2Matrix"> |
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<em class="property">class </em><code class="sig-prename descclassname">liegroups.torch.so2.</code><code class="sig-name descname">SO2Matrix</code><span class="sig-paren">(</span><em class="sig-param">mat</em><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.so2.SO2Matrix" title="Permalink to this definition">¶</a></dt> |
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<dd><p>See <a class="reference internal" href="numpy.html#liegroups.SO2" title="liegroups.SO2"><code class="xref py py-mod docutils literal notranslate"><span class="pre">liegroups.SO2</span></code></a></p> |
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<dl class="method"> |
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<dt id="liegroups.torch.so2.SO2Matrix.cpu"> |
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<code class="sig-name descname">cpu</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.so2.SO2Matrix.cpu" title="Permalink to this definition">¶</a></dt> |
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<dd><p>Return a copy with the underlying tensor on the CPU.</p> |
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</dd></dl> |
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<dl class="method"> |
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<dt id="liegroups.torch.so2.SO2Matrix.cuda"> |
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<code class="sig-name descname">cuda</code><span class="sig-paren">(</span><em class="sig-param">device=None</em>, <em class="sig-param">non_blocking=False</em><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.so2.SO2Matrix.cuda" title="Permalink to this definition">¶</a></dt> |
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<dd><p>Return a copy with the underlying tensor on the GPU.</p> |
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</dd></dl> |
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<dl class="method"> |
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<dt id="liegroups.torch.so2.SO2Matrix.from_numpy"> |
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<em class="property">classmethod </em><code class="sig-name descname">from_numpy</code><span class="sig-paren">(</span><em class="sig-param">other</em>, <em class="sig-param">pin_memory=False</em><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.so2.SO2Matrix.from_numpy" title="Permalink to this definition">¶</a></dt> |
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<dd><p>Create a torch-based copy of a numpy-based rotation.</p> |
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</dd></dl> |
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<dl class="method"> |
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<dt id="liegroups.torch.so2.SO2Matrix.is_cuda"> |
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<code class="sig-name descname">is_cuda</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.so2.SO2Matrix.is_cuda" title="Permalink to this definition">¶</a></dt> |
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<dd><p>Returns true if the underlying tensor is a CUDA tensor</p> |
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</dd></dl> |
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<dl class="method"> |
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<dt id="liegroups.torch.so2.SO2Matrix.is_pinned"> |
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<code class="sig-name descname">is_pinned</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.so2.SO2Matrix.is_pinned" title="Permalink to this definition">¶</a></dt> |
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<dd><p>Returns true if the underlying tensor resides in pinned memory</p> |
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</dd></dl> |
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<dl class="method"> |
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<dt id="liegroups.torch.so2.SO2Matrix.pin_memory"> |
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<code class="sig-name descname">pin_memory</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.so2.SO2Matrix.pin_memory" title="Permalink to this definition">¶</a></dt> |
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<dd><p>Return a copy with the underlying tensor in pinned (page-locked) memory. Makes host-to-GPU copies faster.</p> |
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<p>See: <a class="reference external" href="http://pytorch.org/docs/master/notes/cuda.html?highlight=pinned">http://pytorch.org/docs/master/notes/cuda.html?highlight=pinned</a></p> |
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</dd></dl> |
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</dd></dl> |
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<dl class="attribute"> |
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<dt id="liegroups.torch.SE2"> |
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<code class="sig-prename descclassname">liegroups.torch.</code><code class="sig-name descname">SE2</code><a class="headerlink" href="#liegroups.torch.SE2" title="Permalink to this definition">¶</a></dt> |
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<dd><p>alias of <a class="reference internal" href="#liegroups.torch.se2.SE2Matrix" title="liegroups.torch.se2.SE2Matrix"><code class="xref py py-class docutils literal notranslate"><span class="pre">liegroups.torch.se2.SE2Matrix</span></code></a></p> |
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</dd></dl> |
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<dl class="class"> |
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<dt id="liegroups.torch.se2.SE2Matrix"> |
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<em class="property">class </em><code class="sig-prename descclassname">liegroups.torch.se2.</code><code class="sig-name descname">SE2Matrix</code><span class="sig-paren">(</span><em class="sig-param">rot</em>, <em class="sig-param">trans</em><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.se2.SE2Matrix" title="Permalink to this definition">¶</a></dt> |
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<dd><p>See <a class="reference internal" href="numpy.html#liegroups.SE2" title="liegroups.SE2"><code class="xref py py-mod docutils literal notranslate"><span class="pre">liegroups.SE2</span></code></a></p> |
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<dl class="method"> |
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<dt id="liegroups.torch.se2.SE2Matrix.cpu"> |
|
<code class="sig-name descname">cpu</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.se2.SE2Matrix.cpu" title="Permalink to this definition">¶</a></dt> |
|
<dd><p>Return a copy with the underlying tensors on the CPU.</p> |
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</dd></dl> |
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|
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<dl class="method"> |
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<dt id="liegroups.torch.se2.SE2Matrix.cuda"> |
|
<code class="sig-name descname">cuda</code><span class="sig-paren">(</span><em class="sig-param">device=None</em>, <em class="sig-param">non_blocking=False</em><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.se2.SE2Matrix.cuda" title="Permalink to this definition">¶</a></dt> |
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<dd><p>Return a copy with the underlying tensors on the GPU.</p> |
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</dd></dl> |
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|
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<dl class="method"> |
|
<dt id="liegroups.torch.se2.SE2Matrix.from_numpy"> |
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<em class="property">classmethod </em><code class="sig-name descname">from_numpy</code><span class="sig-paren">(</span><em class="sig-param">other</em>, <em class="sig-param">pin_memory=False</em><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.se2.SE2Matrix.from_numpy" title="Permalink to this definition">¶</a></dt> |
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<dd><p>Create a torch-based copy of a numpy-based transformation.</p> |
|
</dd></dl> |
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|
|
<dl class="method"> |
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<dt id="liegroups.torch.se2.SE2Matrix.is_cuda"> |
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<code class="sig-name descname">is_cuda</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.se2.SE2Matrix.is_cuda" title="Permalink to this definition">¶</a></dt> |
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<dd><p>Returns true if the underlying tensors are CUDA tensors</p> |
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</dd></dl> |
|
|
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<dl class="method"> |
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<dt id="liegroups.torch.se2.SE2Matrix.is_pinned"> |
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<code class="sig-name descname">is_pinned</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.se2.SE2Matrix.is_pinned" title="Permalink to this definition">¶</a></dt> |
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<dd><p>Returns true if the underlying tensors reside in pinned memory</p> |
|
</dd></dl> |
|
|
|
<dl class="method"> |
|
<dt id="liegroups.torch.se2.SE2Matrix.pin_memory"> |
|
<code class="sig-name descname">pin_memory</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.se2.SE2Matrix.pin_memory" title="Permalink to this definition">¶</a></dt> |
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<dd><p>Return a copy with the underlying tensor in pinned (page-locked) memory. Makes host-to-GPU copies faster.</p> |
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<p>See: <a class="reference external" href="http://pytorch.org/docs/master/notes/cuda.html?highlight=pinned">http://pytorch.org/docs/master/notes/cuda.html?highlight=pinned</a></p> |
|
</dd></dl> |
|
|
|
</dd></dl> |
|
|
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<dl class="attribute"> |
|
<dt id="liegroups.torch.SO3"> |
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<code class="sig-prename descclassname">liegroups.torch.</code><code class="sig-name descname">SO3</code><a class="headerlink" href="#liegroups.torch.SO3" title="Permalink to this definition">¶</a></dt> |
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<dd><p>alias of <a class="reference internal" href="#liegroups.torch.so3.SO3Matrix" title="liegroups.torch.so3.SO3Matrix"><code class="xref py py-class docutils literal notranslate"><span class="pre">liegroups.torch.so3.SO3Matrix</span></code></a></p> |
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</dd></dl> |
|
|
|
<dl class="class"> |
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<dt id="liegroups.torch.so3.SO3Matrix"> |
|
<em class="property">class </em><code class="sig-prename descclassname">liegroups.torch.so3.</code><code class="sig-name descname">SO3Matrix</code><span class="sig-paren">(</span><em class="sig-param">mat</em><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.so3.SO3Matrix" title="Permalink to this definition">¶</a></dt> |
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<dd><p>See <a class="reference internal" href="numpy.html#liegroups.SO3" title="liegroups.SO3"><code class="xref py py-mod docutils literal notranslate"><span class="pre">liegroups.SO3</span></code></a></p> |
|
<dl class="method"> |
|
<dt id="liegroups.torch.so3.SO3Matrix.cpu"> |
|
<code class="sig-name descname">cpu</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.so3.SO3Matrix.cpu" title="Permalink to this definition">¶</a></dt> |
|
<dd><p>Return a copy with the underlying tensor on the CPU.</p> |
|
</dd></dl> |
|
|
|
<dl class="method"> |
|
<dt id="liegroups.torch.so3.SO3Matrix.cuda"> |
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<code class="sig-name descname">cuda</code><span class="sig-paren">(</span><em class="sig-param">device=None</em>, <em class="sig-param">non_blocking=False</em><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.so3.SO3Matrix.cuda" title="Permalink to this definition">¶</a></dt> |
|
<dd><p>Return a copy with the underlying tensor on the GPU.</p> |
|
</dd></dl> |
|
|
|
<dl class="method"> |
|
<dt id="liegroups.torch.so3.SO3Matrix.from_numpy"> |
|
<em class="property">classmethod </em><code class="sig-name descname">from_numpy</code><span class="sig-paren">(</span><em class="sig-param">other</em>, <em class="sig-param">pin_memory=False</em><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.so3.SO3Matrix.from_numpy" title="Permalink to this definition">¶</a></dt> |
|
<dd><p>Create a torch-based copy of a numpy-based rotation.</p> |
|
</dd></dl> |
|
|
|
<dl class="method"> |
|
<dt id="liegroups.torch.so3.SO3Matrix.is_cuda"> |
|
<code class="sig-name descname">is_cuda</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.so3.SO3Matrix.is_cuda" title="Permalink to this definition">¶</a></dt> |
|
<dd><p>Returns true if the underlying tensor is a CUDA tensor</p> |
|
</dd></dl> |
|
|
|
<dl class="method"> |
|
<dt id="liegroups.torch.so3.SO3Matrix.is_pinned"> |
|
<code class="sig-name descname">is_pinned</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.so3.SO3Matrix.is_pinned" title="Permalink to this definition">¶</a></dt> |
|
<dd><p>Returns true if the underlying tensor resides in pinned memory</p> |
|
</dd></dl> |
|
|
|
<dl class="method"> |
|
<dt id="liegroups.torch.so3.SO3Matrix.pin_memory"> |
|
<code class="sig-name descname">pin_memory</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.so3.SO3Matrix.pin_memory" title="Permalink to this definition">¶</a></dt> |
|
<dd><p>Return a copy with the underlying tensor in pinned (page-locked) memory. Makes host-to-GPU copies faster.</p> |
|
<p>See: <a class="reference external" href="http://pytorch.org/docs/master/notes/cuda.html?highlight=pinned">http://pytorch.org/docs/master/notes/cuda.html?highlight=pinned</a></p> |
|
</dd></dl> |
|
|
|
</dd></dl> |
|
|
|
<dl class="attribute"> |
|
<dt id="liegroups.torch.SE3"> |
|
<code class="sig-prename descclassname">liegroups.torch.</code><code class="sig-name descname">SE3</code><a class="headerlink" href="#liegroups.torch.SE3" title="Permalink to this definition">¶</a></dt> |
|
<dd><p>alias of <a class="reference internal" href="#liegroups.torch.se3.SE3Matrix" title="liegroups.torch.se3.SE3Matrix"><code class="xref py py-class docutils literal notranslate"><span class="pre">liegroups.torch.se3.SE3Matrix</span></code></a></p> |
|
</dd></dl> |
|
|
|
<dl class="class"> |
|
<dt id="liegroups.torch.se3.SE3Matrix"> |
|
<em class="property">class </em><code class="sig-prename descclassname">liegroups.torch.se3.</code><code class="sig-name descname">SE3Matrix</code><span class="sig-paren">(</span><em class="sig-param">rot</em>, <em class="sig-param">trans</em><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.se3.SE3Matrix" title="Permalink to this definition">¶</a></dt> |
|
<dd><p>See <a class="reference internal" href="numpy.html#liegroups.SE3" title="liegroups.SE3"><code class="xref py py-mod docutils literal notranslate"><span class="pre">liegroups.SE3</span></code></a></p> |
|
<dl class="method"> |
|
<dt id="liegroups.torch.se3.SE3Matrix.cpu"> |
|
<code class="sig-name descname">cpu</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.se3.SE3Matrix.cpu" title="Permalink to this definition">¶</a></dt> |
|
<dd><p>Return a copy with the underlying tensors on the CPU.</p> |
|
</dd></dl> |
|
|
|
<dl class="method"> |
|
<dt id="liegroups.torch.se3.SE3Matrix.cuda"> |
|
<code class="sig-name descname">cuda</code><span class="sig-paren">(</span><em class="sig-param">device=None</em>, <em class="sig-param">non_blocking=False</em><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.se3.SE3Matrix.cuda" title="Permalink to this definition">¶</a></dt> |
|
<dd><p>Return a copy with the underlying tensors on the GPU.</p> |
|
</dd></dl> |
|
|
|
<dl class="method"> |
|
<dt id="liegroups.torch.se3.SE3Matrix.from_numpy"> |
|
<em class="property">classmethod </em><code class="sig-name descname">from_numpy</code><span class="sig-paren">(</span><em class="sig-param">other</em>, <em class="sig-param">pin_memory=False</em><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.se3.SE3Matrix.from_numpy" title="Permalink to this definition">¶</a></dt> |
|
<dd><p>Create a torch-based copy of a numpy-based transformation.</p> |
|
</dd></dl> |
|
|
|
<dl class="method"> |
|
<dt id="liegroups.torch.se3.SE3Matrix.is_cuda"> |
|
<code class="sig-name descname">is_cuda</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.se3.SE3Matrix.is_cuda" title="Permalink to this definition">¶</a></dt> |
|
<dd><p>Returns true if the underlying tensors are CUDA tensors</p> |
|
</dd></dl> |
|
|
|
<dl class="method"> |
|
<dt id="liegroups.torch.se3.SE3Matrix.is_pinned"> |
|
<code class="sig-name descname">is_pinned</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.se3.SE3Matrix.is_pinned" title="Permalink to this definition">¶</a></dt> |
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<dd><p>Returns true if the underlying tensors reside in pinned memory</p> |
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<dl class="method"> |
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<dt id="liegroups.torch.se3.SE3Matrix.pin_memory"> |
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<code class="sig-name descname">pin_memory</code><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#liegroups.torch.se3.SE3Matrix.pin_memory" title="Permalink to this definition">¶</a></dt> |
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<dd><p>Return a copy with the underlying tensor in pinned (page-locked) memory. Makes host-to-GPU copies faster.</p> |
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<p>See: <a class="reference external" href="http://pytorch.org/docs/master/notes/cuda.html?highlight=pinned">http://pytorch.org/docs/master/notes/cuda.html?highlight=pinned</a></p> |
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