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SymForce
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  • Development Guide

Tutorials

  • SymPy Tutorial
  • Geometry Tutorial
  • Ops Tutorial
  • Cameras Tutorial
  • Values Tutorial
  • Codegen Tutorial
  • Optimization Tutorial
  • Epsilon Tutorial

Examples

  • Bundle Adjustment
  • Fixed Size Bundle Adjustment
  • Bundle-Adjustment-in-the-Large
  • Custom Factor Generation
  • Robot 2D Localization
  • Robot 3D Localization

symforce Reference

  • symforce package
    • symforce.benchmarks package
      • symforce.benchmarks.inverse_compose_jacobian package
        • symforce.benchmarks.inverse_compose_jacobian.generate_inverse_compose_jacobian module
      • symforce.benchmarks.matrix_multiplication package
        • symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark module
      • symforce.benchmarks.robot_3d_localization package
      • symforce.benchmarks.run_benchmarks module
    • symforce.cam package
      • symforce.cam.atan_camera_cal module
      • symforce.cam.camera module
      • symforce.cam.camera_cal module
      • symforce.cam.camera_util module
      • symforce.cam.double_sphere_camera_cal module
      • symforce.cam.equirectangular_camera_cal module
      • symforce.cam.linear_camera_cal module
      • symforce.cam.orthographic_camera_cal module
      • symforce.cam.polynomial_camera_cal module
      • symforce.cam.posed_camera module
      • symforce.cam.spherical_camera_cal module
    • symforce.caspar package
      • symforce.caspar.memory package
        • symforce.caspar.memory.accessors module
        • symforce.caspar.memory.dtype module
        • symforce.caspar.memory.layouts module
        • symforce.caspar.memory.pair module
        • symforce.caspar.memory.special_square_matrices module
    • symforce.codegen package
      • symforce.codegen.backends package
        • symforce.codegen.backends.cpp package
          • symforce.codegen.backends.cpp.cpp_code_printer module
          • symforce.codegen.backends.cpp.cpp_config module
        • symforce.codegen.backends.cuda package
          • symforce.codegen.backends.cuda.cuda_code_printer module
          • symforce.codegen.backends.cuda.cuda_config module
        • symforce.codegen.backends.python package
          • symforce.codegen.backends.python.generate_module_init module
          • symforce.codegen.backends.python.python_code_printer module
          • symforce.codegen.backends.python.python_config module
        • symforce.codegen.backends.pytorch package
          • symforce.codegen.backends.pytorch.pytorch_code_printer module
          • symforce.codegen.backends.pytorch.pytorch_config module
        • symforce.codegen.backends.rust package
          • symforce.codegen.backends.rust.rust_code_printer module
          • symforce.codegen.backends.rust.rust_config module
        • symforce.codegen.backends.typescript package
          • symforce.codegen.backends.typescript.typescript_code_printer module
          • symforce.codegen.backends.typescript.typescript_config module
      • symforce.codegen.cam_package_codegen module
      • symforce.codegen.codegen module
      • symforce.codegen.codegen_config module
      • symforce.codegen.codegen_util module
      • symforce.codegen.format_util module
      • symforce.codegen.geo_factors_codegen module
      • symforce.codegen.geo_package_codegen module
      • symforce.codegen.lcm_types_codegen module
      • symforce.codegen.ops_codegen_util module
      • symforce.codegen.similarity_index module
      • symforce.codegen.slam_factors_codegen module
      • symforce.codegen.sym_util_package_codegen module
      • symforce.codegen.template_util module
      • symforce.codegen.types_package_codegen module
      • symforce.codegen.values_codegen module
    • symforce.examples package
      • symforce.examples.bundle_adjustment package
      • symforce.examples.bundle_adjustment_fixed_size package
        • symforce.examples.bundle_adjustment_fixed_size.build_values module
        • symforce.examples.bundle_adjustment_fixed_size.generate_fixed_problem module
      • symforce.examples.bundle_adjustment_in_the_large package
        • symforce.examples.bundle_adjustment_in_the_large.bundle_adjustment_in_the_large module
        • symforce.examples.bundle_adjustment_in_the_large.download_dataset module
      • symforce.examples.custom_factor_generation package
        • symforce.examples.custom_factor_generation.factor_residuals module
        • symforce.examples.custom_factor_generation.generate_factors module
      • symforce.examples.robot_2d_localization package
        • symforce.examples.robot_2d_localization.plotting module
        • symforce.examples.robot_2d_localization.robot_2d_localization module
      • symforce.examples.robot_3d_localization package
        • symforce.examples.robot_3d_localization.plotting module
        • symforce.examples.robot_3d_localization.robot_3d_localization module
    • symforce.geo package
      • symforce.geo.unsupported package
        • symforce.geo.unsupported.pose2_se2 module
        • symforce.geo.unsupported.pose3_se3 module
      • symforce.geo.complex module
      • symforce.geo.dual_quaternion module
      • symforce.geo.matrix module
      • symforce.geo.pose2 module
      • symforce.geo.pose3 module
      • symforce.geo.quaternion module
      • symforce.geo.rot2 module
      • symforce.geo.rot3 module
      • symforce.geo.unit3 module
    • symforce.internal package
      • symforce.internal.symbolic module
    • symforce.ops package
      • symforce.ops.impl package
        • symforce.ops.impl.abstract_storage_ops module
        • symforce.ops.impl.abstract_vector_group_ops module
        • symforce.ops.impl.abstract_vector_lie_group_ops module
        • symforce.ops.impl.array_lie_group_ops module
        • symforce.ops.impl.array_storage_ops module
        • symforce.ops.impl.class_group_ops module
        • symforce.ops.impl.class_lie_group_ops module
        • symforce.ops.impl.class_storage_ops module
        • symforce.ops.impl.databuffer_storage_ops module
        • symforce.ops.impl.dataclass_group_ops module
        • symforce.ops.impl.dataclass_lie_group_ops module
        • symforce.ops.impl.dataclass_storage_ops module
        • symforce.ops.impl.nonetype_lie_group_ops module
        • symforce.ops.impl.scalar_lie_group_ops module
        • symforce.ops.impl.sequence_group_ops module
        • symforce.ops.impl.sequence_lie_group_ops module
        • symforce.ops.impl.sequence_storage_ops module
        • symforce.ops.impl.sym_class_lie_group_ops module
        • symforce.ops.impl.vector_class_lie_group_ops module
      • symforce.ops.interfaces package
        • symforce.ops.interfaces.group module
        • symforce.ops.interfaces.lie_group module
        • symforce.ops.interfaces.storage module
      • symforce.ops.group_ops module
      • symforce.ops.lie_group_ops module
      • symforce.ops.ops module
      • symforce.ops.storage_ops module
    • symforce.opt package
      • symforce.opt.objectives package
        • symforce.opt.objectives.min_max_barrier_objective module
        • symforce.opt.objectives.norm_barrier_objective module
        • symforce.opt.objectives.prior_value_objective module
      • symforce.opt.barrier_functions module
      • symforce.opt.factor module
      • symforce.opt.noise_models module
      • symforce.opt.numeric_factor module
      • symforce.opt.objective module
      • symforce.opt.optimization_problem module
      • symforce.opt.optimizer module
      • symforce.opt.optimizer_params module
      • symforce.opt.residual_block module
      • symforce.opt.sub_problem module
      • symforce.opt.timestep_sub_problem module
    • symforce.slam package
      • symforce.slam.imu_preintegration package
        • symforce.slam.imu_preintegration.generate module
        • symforce.slam.imu_preintegration.manifold_symbolic module
    • symforce.test_util package
      • symforce.test_util.random_expressions package
        • symforce.test_util.random_expressions.op_probabilities module
        • symforce.test_util.random_expressions.unary_binary_expression_gen module
      • symforce.test_util.backend_coverage_expressions module
      • symforce.test_util.cam_cal_test_mixin module
      • symforce.test_util.cam_test_mixin module
      • symforce.test_util.epsilon_handling module
      • symforce.test_util.group_ops_test_mixin module
      • symforce.test_util.lie_group_ops_test_mixin module
      • symforce.test_util.storage_ops_test_mixin module
      • symforce.test_util.stubs_util module
      • symforce.test_util.test_case module
      • symforce.test_util.test_case_mixin module
    • symforce.values package
      • symforce.values.attr_accessor module
      • symforce.values.generated_key_selection module
      • symforce.values.index_entry module
      • symforce.values.values module
    • symforce.cc_sym module
    • symforce.databuffer module
    • symforce.jacobian_helpers module
    • symforce.logic module
    • symforce.notebook_util module
    • symforce.path_util module
    • symforce.python_util module
    • symforce.symbolic module
    • symforce.type_helpers module
    • symforce.typing module
    • symforce.typing_util module
    • symforce.util module

sym Python Reference

  • sym package
    • sym.ops package
      • sym.ops.atan_camera_cal package
        • sym.ops.atan_camera_cal.camera_ops module
        • sym.ops.atan_camera_cal.group_ops module
        • sym.ops.atan_camera_cal.lie_group_ops module
      • sym.ops.double_sphere_camera_cal package
        • sym.ops.double_sphere_camera_cal.camera_ops module
        • sym.ops.double_sphere_camera_cal.group_ops module
        • sym.ops.double_sphere_camera_cal.lie_group_ops module
      • sym.ops.equirectangular_camera_cal package
        • sym.ops.equirectangular_camera_cal.camera_ops module
        • sym.ops.equirectangular_camera_cal.group_ops module
        • sym.ops.equirectangular_camera_cal.lie_group_ops module
      • sym.ops.linear_camera_cal package
        • sym.ops.linear_camera_cal.camera_ops module
        • sym.ops.linear_camera_cal.group_ops module
        • sym.ops.linear_camera_cal.lie_group_ops module
      • sym.ops.orthographic_camera_cal package
        • sym.ops.orthographic_camera_cal.camera_ops module
        • sym.ops.orthographic_camera_cal.group_ops module
        • sym.ops.orthographic_camera_cal.lie_group_ops module
      • sym.ops.polynomial_camera_cal package
        • sym.ops.polynomial_camera_cal.camera_ops module
        • sym.ops.polynomial_camera_cal.group_ops module
        • sym.ops.polynomial_camera_cal.lie_group_ops module
      • sym.ops.pose2 package
        • sym.ops.pose2.group_ops module
        • sym.ops.pose2.lie_group_ops module
      • sym.ops.pose3 package
        • sym.ops.pose3.group_ops module
        • sym.ops.pose3.lie_group_ops module
      • sym.ops.rot2 package
        • sym.ops.rot2.group_ops module
        • sym.ops.rot2.lie_group_ops module
      • sym.ops.rot3 package
        • sym.ops.rot3.group_ops module
        • sym.ops.rot3.lie_group_ops module
      • sym.ops.spherical_camera_cal package
        • sym.ops.spherical_camera_cal.camera_ops module
        • sym.ops.spherical_camera_cal.group_ops module
        • sym.ops.spherical_camera_cal.lie_group_ops module
      • sym.ops.unit3 package
        • sym.ops.unit3.group_ops module
        • sym.ops.unit3.lie_group_ops module
    • sym.atan_camera_cal module
    • sym.double_sphere_camera_cal module
    • sym.equirectangular_camera_cal module
    • sym.linear_camera_cal module
    • sym.orthographic_camera_cal module
    • sym.polynomial_camera_cal module
    • sym.pose2 module
    • sym.pose3 module
    • sym.rot2 module
    • sym.rot3 module
    • sym.spherical_camera_cal module
    • sym.unit3 module

sym C++ Reference

  • Class list
    • Class sym::ATANCameraCal
    • Class sym::Camera
    • Class sym::DoubleSphereCameraCal
    • Class sym::EquirectangularCameraCal
    • Class sym::LinearCameraCal
    • Class sym::OrthographicCameraCal
    • Class sym::PolynomialCameraCal
    • Class sym::Pose2
    • Class sym::Pose3
    • Class sym::PosedCamera
    • Class sym::Rot2
    • Class sym::Rot3
    • Class sym::SphericalCameraCal
    • Class sym::Unit3
  • File list
    • File all_cam_types.h
    • File all_geo_types.h
    • File group_ops.cc
    • File group_ops.h
    • File lie_group_ops.cc
    • File lie_group_ops.h
    • File storage_ops.cc
    • File storage_ops.h
    • File atan_camera_cal.cc
    • File atan_camera_cal.h
    • File atan_reprojection_delta.h
    • File between_factor_atan_camera_cal.h
    • File between_factor_double_sphere_camera_cal.h
    • File between_factor_equirectangular_camera_cal.h
    • File between_factor_linear_camera_cal.h
    • File between_factor_matrix31.h
    • File between_factor_orthographic_camera_cal.h
    • File between_factor_polynomial_camera_cal.h
    • File between_factor_pose2.h
    • File between_factor_pose3.h
    • File between_factor_pose3_position.h
    • File between_factor_pose3_rotation.h
    • File between_factor_pose3_translation_norm.h
    • File between_factor_rot2.h
    • File between_factor_rot3.h
    • File between_factor_spherical_camera_cal.h
    • File camera.h
    • File group_ops.cc
    • File group_ops.h
    • File lie_group_ops.cc
    • File lie_group_ops.h
    • File storage_ops.cc
    • File storage_ops.h
    • File double_sphere_camera_cal.cc
    • File double_sphere_camera_cal.h
    • File double_sphere_reprojection_delta.h
    • File epsilon.cc
    • File epsilon.h
    • File group_ops.cc
    • File group_ops.h
    • File lie_group_ops.cc
    • File lie_group_ops.h
    • File storage_ops.cc
    • File storage_ops.h
    • File equirectangular_camera_cal.cc
    • File equirectangular_camera_cal.h
    • File equirectangular_reprojection_delta.h
    • File group_ops.h
    • File imu_manifold_preintegration_update.h
    • File imu_manifold_preintegration_update_auto_derivative.h
    • File internal_imu_factor.h
    • File internal_imu_unit_gravity_factor.h
    • File internal_imu_with_gravity_factor.h
    • File inverse_range_landmark_atan_gnc_factor.h
    • File inverse_range_landmark_double_sphere_gnc_factor.h
    • File inverse_range_landmark_equirectangular_gnc_factor.h
    • File inverse_range_landmark_linear_gnc_factor.h
    • File inverse_range_landmark_orthographic_gnc_factor.h
    • File inverse_range_landmark_polynomial_gnc_factor.h
    • File inverse_range_landmark_prior_factor.h
    • File inverse_range_landmark_spherical_gnc_factor.h
    • File lie_group_ops.h
    • File group_ops.cc
    • File group_ops.h
    • File lie_group_ops.cc
    • File lie_group_ops.h
    • File storage_ops.cc
    • File storage_ops.h
    • File linear_camera_cal.cc
    • File linear_camera_cal.h
    • File linear_reprojection_delta.h
    • File group_ops.cc
    • File group_ops.h
    • File lie_group_ops.cc
    • File lie_group_ops.h
    • File storage_ops.cc
    • File storage_ops.h
    • File group_ops.cc
    • File group_ops.h
    • File lie_group_ops.cc
    • File lie_group_ops.h
    • File storage_ops.cc
    • File storage_ops.h
    • File orthographic_camera_cal.cc
    • File orthographic_camera_cal.h
    • File orthographic_reprojection_delta.h
    • File group_ops.cc
    • File group_ops.h
    • File lie_group_ops.cc
    • File lie_group_ops.h
    • File storage_ops.cc
    • File storage_ops.h
    • File polynomial_camera_cal.cc
    • File polynomial_camera_cal.h
    • File polynomial_reprojection_delta.h
    • File group_ops.cc
    • File group_ops.h
    • File lie_group_ops.cc
    • File lie_group_ops.h
    • File storage_ops.cc
    • File storage_ops.h
    • File pose2.cc
    • File pose2.h
    • File group_ops.cc
    • File group_ops.h
    • File lie_group_ops.cc
    • File lie_group_ops.h
    • File storage_ops.cc
    • File storage_ops.h
    • File pose3.cc
    • File pose3.h
    • File posed_camera.h
    • File prior_factor_atan_camera_cal.h
    • File prior_factor_double_sphere_camera_cal.h
    • File prior_factor_equirectangular_camera_cal.h
    • File prior_factor_linear_camera_cal.h
    • File prior_factor_matrix31.h
    • File prior_factor_orthographic_camera_cal.h
    • File prior_factor_polynomial_camera_cal.h
    • File prior_factor_pose2.h
    • File prior_factor_pose3.h
    • File prior_factor_pose3_position.h
    • File prior_factor_pose3_rotation.h
    • File prior_factor_rot2.h
    • File prior_factor_rot3.h
    • File prior_factor_spherical_camera_cal.h
    • File prior_factor_unit3.h
    • File roll_forward_state.h
    • File group_ops.cc
    • File group_ops.h
    • File lie_group_ops.cc
    • File lie_group_ops.h
    • File storage_ops.cc
    • File storage_ops.h
    • File rot2.cc
    • File rot2.h
    • File group_ops.cc
    • File group_ops.h
    • File lie_group_ops.cc
    • File lie_group_ops.h
    • File storage_ops.cc
    • File storage_ops.h
    • File rot3.cc
    • File rot3.h
    • File group_ops.cc
    • File group_ops.h
    • File lie_group_ops.cc
    • File lie_group_ops.h
    • File storage_ops.cc
    • File storage_ops.h
    • File group_ops.cc
    • File group_ops.h
    • File lie_group_ops.cc
    • File lie_group_ops.h
    • File storage_ops.cc
    • File storage_ops.h
    • File spherical_camera_cal.cc
    • File spherical_camera_cal.h
    • File spherical_reprojection_delta.h
    • File storage_ops.h
    • File type_ops.h
    • File typedefs.h
    • File group_ops.cc
    • File group_ops.h
    • File lie_group_ops.cc
    • File lie_group_ops.h
    • File storage_ops.cc
    • File storage_ops.h
    • File unit3.cc
    • File unit3.h

opt C++ Reference

  • Class list
    • Class Eigen::DenseBase
    • Class Eigen::MatrixBase
    • Class Eigen::SparseMatrix
    • Class Eigen::SparseMatrixBase
    • Class Eigen::VectorBlock
    • Class Eigen::WithFormat
    • Class sym::DenseCholeskySolver
    • Class sym::DenseLinearizer
    • Class sym::EigenSparseSolver
    • Class sym::Factor
    • Class sym::FixedSizeOptimizer
    • Class sym::GncOptimizer
    • Class sym::ImuFactor
    • Class sym::ImuPreintegrator
    • Class sym::ImuWithGravityDirectionFactor
    • Class sym::ImuWithGravityFactor
    • Class sym::Interpolator
    • Class sym::Key
    • Class sym::LevenbergMarquardtSolver
    • Class sym::Linearizer
    • Class sym::Optimizer
    • Class sym::SparseCholeskySolver
    • Class sym::SparseSchurSolver
    • Class sym::Values
  • File list
    • File assert.h
    • File dense_cholesky_solver.h
    • File dense_linearizer.h
    • File dump_graph.h
    • File eigen_sparse_solver.h
    • File eigen_type_ops.h
    • File factor.h
    • File fixed_size_optimizer.h
    • File fmt_eigen.h
    • File gnc_optimizer.h
    • File imu_factor.h
    • File imu_preintegrator.h
    • File key.h
    • File levenberg_marquardt_solver.h
    • File linearization.h
    • File linearizer.h
    • File marginalization.h
    • File optimization_stats.h
    • File optimizer.h
    • File preintegrated_imu_measurements.h
    • File sparse_cholesky_solver.h
    • File sparse_schur_solver.h
    • File templates.h
    • File tic_toc.h
    • File util.h
    • File values.h

Project Links

  • GitHub
  • PyPI
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Struct sym::SparseSchurSolver::FactorizationData¶

struct FactorizationData¶

Public Members

Eigen::SparseMatrix<Scalar> C_inv_lower¶
Eigen::SparseMatrix<Scalar> E_transpose¶
Eigen::SparseMatrix<Scalar> S_lower¶
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On this page
  • Struct sym::SparseSchurSolver::FactorizationData
    • sym::SparseSchurSolver::FactorizationData
      • C_inv_lower
      • E_transpose
      • S_lower