symforce.util module#

symbolic_eval(func)[source]#

Build symbolic arguments for a function, and return the function evaluated on those arguments.

Useful for easily visualizing what expressions a symbolic function produces

Parameters:

func (Callable[[...], _T]) – A callable; args should have type annotations, and those types should be constructible automatically with symforce.ops.storage_ops.StorageOps.symbolic()

Returns:

The outputs of ``func`` evaluated on the constructed symbolic args

Return type:

_T

See also

symforce.type_helpers.symbolic_inputs()

lambdify(f, use_numba=False)[source]#

Convert a symbolic function to a numerical one. This is a thin wrapper around Codegen.function provided for convenience.

Parameters:

  • f (Callable) – A callable with symbolic inputs and outputs - see Codegen.function for details

  • use_numba (bool) – If True, use Numba to compile the generated function. This can be much faster, but has some limitations - see codegen.PythonConfig for details

Returns:

A numerical function equivalent to ``f``

Return type:

Callable

See also

Codegen.lambdify Codegen.function codegen.PythonConfig

numbify(f)[source]#

Shorthand for lambdify(f, use_numba=True)

See also

lambdify()

Parameters:

f (Callable) –

Return type:

Callable

specialize_types(f, type_replacements)[source]#

Specialize the type annotations on the given function, replacing any types in type_replacements

For example, this can be used to take a symbolic function that accepts a generic type and generate it for several concrete types:

def f(x: sf.CameraCal) -> sf.Scalar:
    ...

Codegen.function(specialize_types(f, {sf.CameraCal: sf.LinearCameraCal}), ...)
Codegen.function(specialize_types(f, {sf.CameraCal: sf.PolynomialCameraCal}), ...)

See also

specialize_args()

Parameters:
Return type:

SymbolicFunction

specialize_args(f, arg_replacements)[source]#

Specialize the type annotations on the given function, replacing types for any arguments in arg_replacements

For example, this can be used to take a symbolic function that accepts a generic type and generate it for several concrete types:

def f(x: sf.CameraCal, y: sf.CameraCal) -> sf.Scalar:
    ...

Codegen.function(
    specialize_types(f, {"x": sf.LinearCameraCal, "y": sf.PolynomialCameraCal}), ...
)

See also

specialize_types()

Parameters:
Return type:

SymbolicFunction