feat: Add ProbabilisticKeyPoint3D #171
Conversation
kunlin596
force-pushed
the
kun/feat/add-probabilistic-key-point-3d
branch
3 times, most recently
from
52dc7a8 to
b7958ec
Compare
dgp/utils/structures/key_point_3d.py
Outdated
| assert np.allclose(mat, mat.T, rtol=rtol, atol=atol), f"{mat} is not symmetric!" | ||
|
|
||
| @staticmethod | ||
| def _assert_positive_semi_definite(mat: np.ndarray) -> None: |
There was a problem hiding this comment.
I think this is actually checking for positive definite. If we want to allow the zero matrix (the default value) we have to allow 0 eignvalues.
Also, is this enough to conclude the diagonal elements are always non negative?
There was a problem hiding this comment.
Yes, you are right, this is actually positive definite. If for instance the var_z is zero it means that in the Z direction there is no variance which is not realistic, I will revise the function name.
Also yes, the diagonal elements are guaranteed to be non-negative.
There was a problem hiding this comment.
I see, but the default value in the proto will be 0, so I think we should either support the zero matrix (which has 0 eigenvalues) or we need to set a default value in the proto (via default keyword) that is large.
There was a problem hiding this comment.
I set the matrix validation check to False by default. Also it looks like we could not set default value in proto3. In this case I think it would make more sense to ensure the value on the caller side.
kunlin596
force-pushed
the
kun/feat/add-probabilistic-key-point-3d
branch
2 times, most recently
from
f520398 to
d9920df
Compare
kunlin596
force-pushed
the
kun/feat/add-probabilistic-key-point-3d
branch
6 times, most recently
from
efd5679 to
21b9d0a
Compare
kunlin596
force-pushed
the
kun/feat/add-probabilistic-key-point-3d
branch
3 times, most recently
from
b0e7445 to
7c30ad0
Compare
kunlin596
force-pushed
the
kun/feat/add-probabilistic-key-point-3d
branch
from
7c30ad0 to
c8dd7fe
Compare
No description provided.