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<!doctype html>
<html class="no-js" lang="en" data-content_root="">
<head>
<meta charset="utf-8"/>
<meta name="viewport" content="width=device-width,initial-scale=1"/>
<meta name="color-scheme" content="light dark"><link rel="index" title="Index" href="genindex.html" /><link rel="search" title="Search" href="#" />
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<style>
body {
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}
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<li class="toctree-l1"><a class="reference internal" href="development.html">Development Guide</a></li>
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<p class="caption" role="heading"><span class="caption-text">Tutorials</span></p>
<ul>
<li class="toctree-l1"><a class="reference internal" href="tutorials/sympy_tutorial.html">SymPy Tutorial</a></li>
<li class="toctree-l1"><a class="reference internal" href="tutorials/geometry_tutorial.html">Geometry Tutorial</a></li>
<li class="toctree-l1"><a class="reference internal" href="tutorials/ops_tutorial.html">Ops Tutorial</a></li>
<li class="toctree-l1"><a class="reference internal" href="tutorials/cameras_tutorial.html">Cameras Tutorial</a></li>
<li class="toctree-l1"><a class="reference internal" href="tutorials/values_tutorial.html">Values Tutorial</a></li>
<li class="toctree-l1"><a class="reference internal" href="tutorials/codegen_tutorial.html">Codegen Tutorial</a></li>
<li class="toctree-l1"><a class="reference internal" href="tutorials/optimization_tutorial.html">Optimization Tutorial</a></li>
<li class="toctree-l1"><a class="reference internal" href="tutorials/epsilon_tutorial.html">Epsilon Tutorial</a></li>
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<p class="caption" role="heading"><span class="caption-text">Examples</span></p>
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<li class="toctree-l1"><a class="reference internal" href="examples/bundle_adjustment/README.html">Bundle Adjustment</a></li>
<li class="toctree-l1"><a class="reference internal" href="examples/bundle_adjustment_fixed_size/README.html">Fixed Size Bundle Adjustment</a></li>
<li class="toctree-l1"><a class="reference internal" href="examples/bundle_adjustment_in_the_large/README.html">Bundle-Adjustment-in-the-Large</a></li>
<li class="toctree-l1"><a class="reference internal" href="examples/custom_factor_generation/README.html">Custom Factor Generation</a></li>
<li class="toctree-l1"><a class="reference internal" href="examples/robot_2d_localization/README.html">Robot 2D Localization</a></li>
<li class="toctree-l1"><a class="reference internal" href="examples/robot_3d_localization/README.html">Robot 3D Localization</a></li>
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<p class="caption" role="heading"><span class="caption-text">symforce Reference</span></p>
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<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.impl.sequence_storage_ops.html">symforce.ops.impl.sequence_storage_ops module</a></li>
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<li class="toctree-l4"><a class="reference internal" href="api/symforce.ops.impl.vector_class_lie_group_ops.html">symforce.ops.impl.vector_class_lie_group_ops module</a></li>
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<p class="caption" role="heading"><span class="caption-text">sym Python Reference</span></p>
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<li class="toctree-l1 has-children"><a class="reference internal" href="api-gen-py/sym.html">sym package</a><input class="toctree-checkbox" id="toctree-checkbox-32" name="toctree-checkbox-32" role="switch" type="checkbox"/><label for="toctree-checkbox-32"><div class="visually-hidden">Toggle navigation of sym package</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
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<li class="toctree-l3 has-children"><a class="reference internal" href="api-gen-py/sym.ops.double_sphere_camera_cal.html">sym.ops.double_sphere_camera_cal package</a><input class="toctree-checkbox" id="toctree-checkbox-35" name="toctree-checkbox-35" role="switch" type="checkbox"/><label for="toctree-checkbox-35"><div class="visually-hidden">Toggle navigation of sym.ops.double_sphere_camera_cal package</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
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<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.double_sphere_camera_cal.lie_group_ops.html">sym.ops.double_sphere_camera_cal.lie_group_ops module</a></li>
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<li class="toctree-l3 has-children"><a class="reference internal" href="api-gen-py/sym.ops.equirectangular_camera_cal.html">sym.ops.equirectangular_camera_cal package</a><input class="toctree-checkbox" id="toctree-checkbox-36" name="toctree-checkbox-36" role="switch" type="checkbox"/><label for="toctree-checkbox-36"><div class="visually-hidden">Toggle navigation of sym.ops.equirectangular_camera_cal package</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
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<p class="caption" role="heading"><span class="caption-text">sym C++ Reference</span></p>
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<li class="toctree-l1 has-children"><a class="reference internal" href="api-gen-cpp/classlist.html">Class list</a><input class="toctree-checkbox" id="toctree-checkbox-46" name="toctree-checkbox-46" role="switch" type="checkbox"/><label for="toctree-checkbox-46"><div class="visually-hidden">Toggle navigation of Class list</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1ATANCameraCal.html">Class sym::ATANCameraCal</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1DoubleSphereCameraCal.html">Class sym::DoubleSphereCameraCal</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1PosedCamera.html">Class sym::PosedCamera</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1Rot2.html">Class sym::Rot2</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1SphericalCameraCal.html">Class sym::SphericalCameraCal</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/double__sphere__camera__cal_2lie__group__ops_8cc.html">File lie_group_ops.cc</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/double__sphere__reprojection__delta_8h.html">File double_sphere_reprojection_delta.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/epsilon_8cc.html">File epsilon.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/epsilon_8h.html">File epsilon.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/equirectangular__camera__cal_2group__ops_8cc.html">File group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/equirectangular__camera__cal_2group__ops_8h.html">File group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/equirectangular__camera__cal_2lie__group__ops_8cc.html">File lie_group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/equirectangular__camera__cal_2lie__group__ops_8h.html">File lie_group_ops.h</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/equirectangular__camera__cal_8cc.html">File equirectangular_camera_cal.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/equirectangular__camera__cal_8h.html">File equirectangular_camera_cal.h</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/inverse__range__landmark__linear__gnc__factor_8h.html">File inverse_range_landmark_linear_gnc_factor.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/inverse__range__landmark__orthographic__gnc__factor_8h.html">File inverse_range_landmark_orthographic_gnc_factor.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/inverse__range__landmark__polynomial__gnc__factor_8h.html">File inverse_range_landmark_polynomial_gnc_factor.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/inverse__range__landmark__prior__factor_8h.html">File inverse_range_landmark_prior_factor.h</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/lie__group__ops_8h.html">File lie_group_ops.h</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/linear__camera__cal_2lie__group__ops_8cc.html">File lie_group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/linear__camera__cal_2lie__group__ops_8h.html">File lie_group_ops.h</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/linear__camera__cal_2storage__ops_8h.html">File storage_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/linear__camera__cal_8cc.html">File linear_camera_cal.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/linear__camera__cal_8h.html">File linear_camera_cal.h</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/matrix_2group__ops_8cc.html">File group_ops.cc</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/matrix_2lie__group__ops_8cc.html">File lie_group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/matrix_2lie__group__ops_8h.html">File lie_group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/matrix_2storage__ops_8cc.html">File storage_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/matrix_2storage__ops_8h.html">File storage_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/orthographic__camera__cal_2group__ops_8cc.html">File group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/orthographic__camera__cal_2group__ops_8h.html">File group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/orthographic__camera__cal_2lie__group__ops_8cc.html">File lie_group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/orthographic__camera__cal_2lie__group__ops_8h.html">File lie_group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/orthographic__camera__cal_2storage__ops_8cc.html">File storage_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/orthographic__camera__cal_2storage__ops_8h.html">File storage_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/orthographic__camera__cal_8cc.html">File orthographic_camera_cal.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/orthographic__camera__cal_8h.html">File orthographic_camera_cal.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/orthographic__reprojection__delta_8h.html">File orthographic_reprojection_delta.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/polynomial__camera__cal_2group__ops_8cc.html">File group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/polynomial__camera__cal_2group__ops_8h.html">File group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/polynomial__camera__cal_2lie__group__ops_8cc.html">File lie_group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/polynomial__camera__cal_2lie__group__ops_8h.html">File lie_group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/polynomial__camera__cal_2storage__ops_8cc.html">File storage_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/polynomial__camera__cal_2storage__ops_8h.html">File storage_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/polynomial__camera__cal_8cc.html">File polynomial_camera_cal.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/polynomial__camera__cal_8h.html">File polynomial_camera_cal.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/polynomial__reprojection__delta_8h.html">File polynomial_reprojection_delta.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/pose2_2group__ops_8cc.html">File group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/pose2_2group__ops_8h.html">File group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/pose2_2lie__group__ops_8cc.html">File lie_group_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/pose2_2lie__group__ops_8h.html">File lie_group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/pose2_2storage__ops_8cc.html">File storage_ops.cc</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/pose2_2storage__ops_8h.html">File storage_ops.h</a></li>
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<p class="caption" role="heading"><span class="caption-text">opt C++ Reference</span></p>
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<li class="toctree-l2"><a class="reference internal" href="api-cpp/class/classsym_1_1DenseCholeskySolver.html">Class sym::DenseCholeskySolver</a></li>
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<p class="caption" role="heading"><span class="caption-text">Project Links</span></p>
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