jaxlie
jaxlie offers efficient Lie groups for JAX-based rigid body transformations in computer vision and robotics. Inspired by the Sophus C++ library, it includes high-level classes like SO2, SE2, SO3, and SE3. These classes support essential operations such as exp(), log(), and multiply(), designed for forward- and reverse-mode automatic differentiation. Users benefit from manifold optimization, compatibility with JAX transformations, and support for broadcasting. Additionally, it provides utilities for uniform random sampling and Euler angle conversions, making it versatile for pose graph optimization and radiance field construction in projects like jaxfg and tensorf-jax.
