python

Python code for ACD

Installation

export EIGEN_DIR=./third_party/eigen-3.4.1 && pip install -e .

Usage

from acd import acd

R_est, status, solver_runtime, obj_value = acd(Rrel, H)

The inputs Rrel and H have the following structure:

# Rrel: nxnx3x3 matrix s.t.:
#     - Rrel[i,j] is an estimate approximating R_j @ R_i.T
#     - Rrel[i,j] .== 0 if unobserved
# H: nxnx3x3 matrix s.t.:
#     - H[i,j] is a Hessian of Rrel[i,j] estimate
#     - H[i,j] .== 0 if unobserved

We provide a function that loads inputs and GT from the matlab file:

from acd.data import read_matlab_data

R_true, Rrel, H = read_matlab_data("../data/lu_sphinx.mat")

A demo with synthetic and real example can be found here.