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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
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- symforce.benchmarks package
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  - symforce.benchmarks.inverse_compose_jacobian package
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    - symforce.benchmarks.inverse_compose_jacobian.generate_inverse_compose_jacobian module
  - symforce.benchmarks.matrix_multiplication package
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    - symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark module
  - symforce.benchmarks.robot_3d_localization package
  - symforce.benchmarks.run_benchmarks module
- symforce.cam package
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- symforce.codegen package
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  - symforce.codegen.backends package
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    - symforce.codegen.backends.cpp package
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      - symforce.codegen.backends.cpp.cpp_code_printer module
      - symforce.codegen.backends.cpp.cpp_config module
    - symforce.codegen.backends.cuda package
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      - symforce.codegen.backends.cuda.cuda_code_printer module
      - symforce.codegen.backends.cuda.cuda_config module
    - symforce.codegen.backends.python package
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      - symforce.codegen.backends.python.python_code_printer module
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    - symforce.codegen.backends.pytorch package
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      - symforce.codegen.backends.pytorch.pytorch_code_printer module
      - symforce.codegen.backends.pytorch.pytorch_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
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  - symforce.examples.bundle_adjustment package
  - symforce.examples.bundle_adjustment_fixed_size package
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    - 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
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    - 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
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    - symforce.examples.custom_factor_generation.factor_residuals module
    - symforce.examples.custom_factor_generation.generate_factors module
  - symforce.examples.robot_2d_localization package
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    - symforce.examples.robot_2d_localization.plotting module
    - symforce.examples.robot_2d_localization.robot_2d_localization module
  - symforce.examples.robot_3d_localization package
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    - symforce.examples.robot_3d_localization.plotting module
    - symforce.examples.robot_3d_localization.robot_3d_localization module
- symforce.geo package
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  - symforce.geo.unsupported package
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    - 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
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  - symforce.internal.symbolic module
- symforce.ops package
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- symforce.opt package
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- symforce.slam package
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  - symforce.slam.imu_preintegration package
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    - symforce.slam.imu_preintegration.generate module
    - symforce.slam.imu_preintegration.manifold_symbolic module
- symforce.test_util package
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- symforce.values package
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- 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
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- sym.ops package
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  - sym.ops.atan_camera_cal package
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  - sym.ops.double_sphere_camera_cal package
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  - sym.ops.equirectangular_camera_cal package
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  - sym.ops.polynomial_camera_cal package
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  - sym.ops.pose2 package
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    - sym.ops.pose2.group_ops module
    - sym.ops.pose2.lie_group_ops module
  - sym.ops.pose3 package
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    - sym.ops.pose3.group_ops module
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    - sym.ops.rot3.group_ops module
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  - sym.ops.spherical_camera_cal package
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    - sym.ops.unit3.group_ops module
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- sym.atan_camera_cal module
- sym.double_sphere_camera_cal module
- sym.equirectangular_camera_cal module
- sym.linear_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

symforce.codegen.slam_factors_codegen module#