WNOA CT-GP Bindings and Example#2523
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holmesco wants to merge 12 commits intoborglab:developfrom
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…s in place but still have issues with cov map and internal typing.
…tion factor. Cayley map fixed as per borglab#2511. Tested.
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Pull request overview
Adds Python-facing support and examples for WNOA continuous-time Gaussian-process interpolation (including covariance output), and removes prior EXPMAP-only gating now that Cayley Jacobians are available.
Changes:
- Extend nonlinear Python bindings to expose
StateData, WNOA motion/interpolation factors,WnoaFactorGraph, and convenience helpers (including a values+covariance return). - Add Python unit tests for the new WNOA interfaces and graph/value interpolation utilities.
- Add an SE(3) WNOA example (C++ example file + Python plotting helpers).
Reviewed changes
Copilot reviewed 11 out of 12 changed files in this pull request and generated 5 comments.
Show a summary per file
| File | Description |
|---|---|
| python/gtsam/tests/test_WnoaFactors.py | New Python tests covering StateData, WNOA motion/interp factors, graph interpolation, and value/covariance updates. |
| python/gtsam/examples/GaussianProcessWnoaInterpolationSE3Helpers.py | New plotting/visualization helper utilities for the SE(3) WNOA interpolation notebook/example. |
| gtsam/nonlinear/WnoaInterpolator.h | Introduces a public covariance-map type alias and updates API to use it. |
| gtsam/nonlinear/WnoaInterpolator.cpp | Updates implementation signatures to match the new covariance-map alias. |
| gtsam/nonlinear/WnoaInterpFactor.h | Removes EXPMAP-only static assertion, allowing Cayley mode usage. |
| gtsam/nonlinear/WnoaFactorGraph.h | Adds Python-friendly helper wrappers and adds an API returning interpolated covariances. |
| gtsam/nonlinear/WnoaFactorGraph.cpp | Enables Pose3 instantiation unconditionally (removes GTSAM_ROT3_EXPMAP guard). |
| gtsam/nonlinear/values.i | Adds Vector6 specializations for Values::{insert,update,insert_or_assign} to support Vector6-valued states in Python. |
| gtsam/nonlinear/tests/testWnoaInterpFactor.cpp | Expands SE(3) coverage without GTSAM_ROT3_EXPMAP gating and adds covariance-map validation tests. |
| gtsam/nonlinear/nonlinear.i | Extends bindings for WNOA types/helpers and adjusts wrapper class hierarchy for WnoaFactorGraph. |
| examples/GaussianProcessWnoaSE3Example.cpp | New C++ SE(3) example demonstrating WNOA priors, wrapping factors, and interpolation with covariances. |
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| const std::set<StateData>& interp_states, Vector q_psd_diag, | ||
| bool fixed_noise = false) { | ||
| return interpolateFactorGraph<PoseType, WnoaFactorGraph<PoseType>>( | ||
| graph, estimated_states, interp_states, q_psd_diag); | ||
| } |
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| template <POSE = {gtsam::Point1, gtsam::Point2, gtsam::Point3, gtsam::Pose2, | ||
| gtsam::Pose3}> | ||
| gtsam::WnoaFactorGraph<Pose> interpolateWnoaFactorGraph( | ||
| const gtsam::NonlinearFactorGraph& graph, | ||
| const std::set<gtsam::StateData>& estimated_states, | ||
| const std::set<gtsam::StateData>& interp_states, gtsam::Vector q_psd_diag, | ||
| bool fixed_noise = false); |
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| from gtsam.utils.numerical_derivative import ( | ||
| numericalDerivative41, | ||
| numericalDerivative42, | ||
| numericalDerivative43, | ||
| numericalDerivative44, | ||
| ) |
|
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| /** | ||
| * @file GaussianProcessWnoaSE3Example.cpp | ||
| * @brief Guassian Process interpolation example on SE(3) with WNOA factors. |
ProfFan
reviewed
May 9, 2026
| p3, | ||
| _p4, | ||
| v0, | ||
| new_graph, |
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Changes
nonlinear.ifor the WNOA functionality. Adds new tests for python version of interface.Tests
make -j6 check.nonlinearpytest test_WnoaFactors.pyIn progress
Still need to add link to arXiv version of paper when it is available (just submitted)
Comments
New python notebook adds dependency on
pyvista.