use hmm for ipe model (#207)

Co-authored-by: Xiaoyan Wang <xxiaoyanwang@gmail.com>
Co-authored-by: georgematheos <georgematheos@gmail.com>
Co-authored-by: nishadgothoskar <nishadg@mit.edu>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Karen Chung <karenchung117@gmail.com>

Author: 6 people

.gitignore

@@ -19,6 +19,7 @@ assets/kitti/*
 __pycache__/
 *.py[cod]
 docs/*
+test_results/
 .pixi/*
 saved_traces/*
 .DS_Store

notebooks/aug1demos/slam_color_room.ipynb

@@ -1621,7 +1621,7 @@
     "# convert_rgbd_to_color_space = lambda x: b3d.colors.rgbd_to_labd(x)\n",
     "# convert_color_space_to_rgbd = lambda x: b3d.colors.labd_to_rgbd(x)\n",
     "def intermediate_likelihood_func(observed_rgbd, latent_rgbd, likelihood_args):\n",
-    "    k = likelihood_args[\"k\"].const\n",
+    "    k = likelihood_args[\"k\"].unwrap()\n",
     "    fx = likelihood_args[\"fx\"]\n",
     "    fy = likelihood_args[\"fy\"]\n",
     "\n",

notebooks/bayes3d_paper/interactive.ipynb

@@ -169,7 +169,7 @@
                 "# def sample_likelihood_func()\n",
                 "\n",
                 "def intermediate_likelihood_func(observed_rgbd, latent_rgbd, likelihood_args):\n",
-                "    k = likelihood_args[\"k\"].const\n",
+                "    k = likelihood_args[\"k\"].unwrap()\n",
                 "    fx = likelihood_args[\"fx\"]\n",
                 "    fy = likelihood_args[\"fy\"]\n",
                 "    \n",
@@ -628,16 +628,16 @@
                 "    rendered_rgbd = renderer.render_rgbd_from_mesh(meshes[IDX].transform(pose))\n",
                 "    rendered_color_space_d = convert_rgbd_to_color_space(rendered_rgbd)\n",
                 "\n",
-                "    k = likelihood_args[\"k\"].const\n",
+                "    k = likelihood_args[\"k\"].unwrap()\n",
                 "    image_height, image_width = rendered_color_space_d.shape[0], rendered_color_space_d.shape[1]\n",
                 "    image_height = Pytree.const(image_height)\n",
                 "    image_width = Pytree.const(image_width)\n",
                 "\n",
                 "    row_coordinates = genjax.categorical.vmap(in_axes=(0,))(\n",
-                "            jnp.ones((k, image_height.const))\n",
+                "            jnp.ones((k, image_height.unwrap()))\n",
                 "    )  @ \"row_coordinates\"\n",
                 "    column_coordinates = genjax.categorical.vmap(in_axes=(0,))(\n",
-                "            jnp.ones((k, image_width.const))\n",
+                "            jnp.ones((k, image_width.unwrap()))\n",
                 "    ) @ \"column_coordinates\"\n",
                 "\n",
                 "\n",