Hide navigation sidebar

Hide table of contents sidebar

Toggle site navigation sidebar

SymForce

Toggle table of contents sidebar

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
Toggle navigation of symforce package
- symforce.benchmarks package
  Toggle navigation of symforce.benchmarks package
  - symforce.benchmarks.inverse_compose_jacobian package
    Toggle navigation of symforce.benchmarks.inverse_compose_jacobian package
    - symforce.benchmarks.inverse_compose_jacobian.generate_inverse_compose_jacobian module
  - symforce.benchmarks.matrix_multiplication package
    Toggle navigation of 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
  Toggle navigation of symforce.cam package
- symforce.codegen package
  Toggle navigation of symforce.codegen package
  - symforce.codegen.backends package
    Toggle navigation of symforce.codegen.backends package
    - symforce.codegen.backends.cpp package
      Toggle navigation of 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
      Toggle navigation of 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
      Toggle navigation of symforce.codegen.backends.python package
      - symforce.codegen.backends.python.python_code_printer module
      - symforce.codegen.backends.python.python_config module
    - symforce.codegen.backends.pytorch package
      Toggle navigation of symforce.codegen.backends.pytorch package
      - 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
  Toggle navigation of symforce.examples package
  - symforce.examples.bundle_adjustment package
  - symforce.examples.bundle_adjustment_fixed_size package
    Toggle navigation of 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
    Toggle navigation of 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
    Toggle navigation of 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
    Toggle navigation of 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
    Toggle navigation of 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
  Toggle navigation of symforce.geo package
  - symforce.geo.unsupported package
    Toggle navigation of 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
  Toggle navigation of symforce.internal package
  - symforce.internal.symbolic module
- symforce.ops package
  Toggle navigation of symforce.ops package
- symforce.opt package
  Toggle navigation of symforce.opt package
- symforce.slam package
  Toggle navigation of symforce.slam package
  - symforce.slam.imu_preintegration package
    Toggle navigation of symforce.slam.imu_preintegration package
    - symforce.slam.imu_preintegration.generate module
    - symforce.slam.imu_preintegration.manifold_symbolic module
- symforce.test_util package
  Toggle navigation of symforce.test_util package
- symforce.values package
  Toggle navigation of symforce.values package
- 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
Toggle navigation of sym package
- sym.ops package
  Toggle navigation of sym.ops package
  - sym.ops.atan_camera_cal package
    Toggle navigation of sym.ops.atan_camera_cal package
  - sym.ops.double_sphere_camera_cal package
    Toggle navigation of sym.ops.double_sphere_camera_cal package
  - sym.ops.equirectangular_camera_cal package
    Toggle navigation of sym.ops.equirectangular_camera_cal package
  - sym.ops.linear_camera_cal package
    Toggle navigation of sym.ops.linear_camera_cal package
  - sym.ops.polynomial_camera_cal package
    Toggle navigation of sym.ops.polynomial_camera_cal package
  - sym.ops.pose2 package
    Toggle navigation of sym.ops.pose2 package
    - sym.ops.pose2.group_ops module
    - sym.ops.pose2.lie_group_ops module
  - sym.ops.pose3 package
    Toggle navigation of sym.ops.pose3 package
    - sym.ops.pose3.group_ops module
    - sym.ops.pose3.lie_group_ops module
  - sym.ops.rot2 package
    Toggle navigation of sym.ops.rot2 package
    - sym.ops.rot2.group_ops module
    - sym.ops.rot2.lie_group_ops module
  - sym.ops.rot3 package
    Toggle navigation of sym.ops.rot3 package
    - sym.ops.rot3.group_ops module
    - sym.ops.rot3.lie_group_ops module
  - sym.ops.spherical_camera_cal package
    Toggle navigation of sym.ops.spherical_camera_cal package
  - sym.ops.unit3 package
    Toggle navigation of 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.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.examples.robot_2d_localization.robot_2d_localization module#