gtsam-develop 4.3a0.dev202506061330__cp311-cp311-macosx_11_0_arm64.whl → 4.3a0.dev202508020718__cp311-cp311-macosx_11_0_arm64.whl

gtsam/gtsam/__init__.pyi

@@ -11,7 +11,7 @@ from . import noiseModel
 from . import so3
 from . import symbol_shorthand
 from . import utilities
-__all__ = ['AHRSFactor', 'AcceleratingScenario', 'AlgebraicDecisionTreeKey', 'AssignmentKey', 'BarometricFactor', 'BatchFixedLagSmoother', 'BearingFactor2D', 'BearingFactor3D', 'BearingFactorPose2', 'BearingRange2D', 'BearingRange3D', 'BearingRangeFactor2D', 'BearingRangeFactor3D', 'BearingRangeFactorPose2', 'BearingRangeFactorPose3', 'BearingRangePose2', 'BearingRangePose3', 'BetweenFactorConstantBias', 'BetweenFactorDouble', 'BetweenFactorPoint2', 'BetweenFactorPoint3', 'BetweenFactorPose2', 'BetweenFactorPose3', 'BetweenFactorRot2', 'BetweenFactorRot3', 'BetweenFactorSO3', 'BetweenFactorSO4', 'BetweenFactorSimilarity2', 'BetweenFactorSimilarity3', 'BetweenFactorVector', 'BinaryMeasurementPoint3', 'BinaryMeasurementRot3', 'BinaryMeasurementUnit3', 'BlockJacobiPreconditionerParameters', 'Cal3', 'Cal3Bundler', 'Cal3DS2', 'Cal3DS2_Base', 'Cal3Fisheye', 'Cal3Unified', 'Cal3_S2', 'Cal3_S2Stereo', 'Cal3f', 'CalibratedCamera', 'CameraSetCal3Bundler', 'CameraSetCal3DS2', 'CameraSetCal3Fisheye', 'CameraSetCal3Unified', 'CameraSetCal3_S2', 'CameraSetPinholePoseCal3_S2', 'Chebyshev1Basis', 'Chebyshev2', 'Chebyshev2Basis', 'CombinedImuFactor', 'ComponentDerivativeFactorChebyshev1Basis', 'ComponentDerivativeFactorChebyshev2', 'ComponentDerivativeFactorChebyshev2Basis', 'ComponentDerivativeFactorFourierBasis', 'ConjugateGradientParameters', 'ConstantTwistScenario', 'ConstantVelocityFactor', 'ConvertNoiseModel', 'CustomFactor', 'DSFMapIndexPair', 'DecisionTreeFactor', 'DegeneracyMode', 'DerivativeFactorChebyshev1Basis', 'DerivativeFactorChebyshev2', 'DerivativeFactorChebyshev2Basis', 'DerivativeFactorFourierBasis', 'DiscreteBayesNet', 'DiscreteBayesTree', 'DiscreteBayesTreeClique', 'DiscreteCluster', 'DiscreteConditional', 'DiscreteDistribution', 'DiscreteEliminationTree', 'DiscreteFactor', 'DiscreteFactorGraph', 'DiscreteJunctionTree', 'DiscreteKeys', 'DiscreteLookupDAG', 'DiscreteLookupTable', 'DiscreteMarginals', 'DiscreteSearch', 'DiscreteSearchSolution', 'DiscreteValues', 'DoglegOptimizer', 'DoglegParams', 'DotWriter', 'DummyPreconditionerParameters', 'EdgeKey', 'EliminateDiscrete', 'EliminateForMPE', 'EliminateQR', 'EpipolarTransfer', 'EssentialMatrix', 'EssentialMatrixConstraint', 'EssentialMatrixFactor', 'EssentialMatrixFactor2', 'EssentialMatrixFactor3', 'EssentialMatrixFactor4Cal3Bundler', 'EssentialMatrixFactor4Cal3DS2', 'EssentialMatrixFactor4Cal3Fisheye', 'EssentialMatrixFactor4Cal3Unified', 'EssentialMatrixFactor4Cal3_S2', 'EssentialMatrixFactor4Cal3f', 'EssentialMatrixFactor5Cal3Bundler', 'EssentialMatrixFactor5Cal3DS2', 'EssentialMatrixFactor5Cal3Fisheye', 'EssentialMatrixFactor5Cal3Unified', 'EssentialMatrixFactor5Cal3_S2', 'EssentialMatrixFactor5Cal3f', 'EssentialTransferFactorCal3Bundler', 'EssentialTransferFactorCal3_S2', 'EssentialTransferFactorCal3f', 'EssentialTransferFactorKCal3Bundler', 'EssentialTransferFactorKCal3_S2', 'EssentialTransferFactorKCal3f', 'EvaluationFactorChebyshev1Basis', 'EvaluationFactorChebyshev2', 'EvaluationFactorChebyshev2Basis', 'EvaluationFactorFourierBasis', 'Event', 'ExtendedKalmanFilterConstantBias', 'ExtendedKalmanFilterNavState', 'ExtendedKalmanFilterPoint2', 'ExtendedKalmanFilterPoint3', 'ExtendedKalmanFilterPose2', 'ExtendedKalmanFilterPose3', 'ExtendedKalmanFilterRot2', 'ExtendedKalmanFilterRot3', 'ExtendedKalmanFilterSimilarity2', 'ExtendedKalmanFilterSimilarity3', 'Factor', 'FindKarcherMeanPoint2', 'FindKarcherMeanPoint3', 'FindKarcherMeanPose2', 'FindKarcherMeanPose3', 'FindKarcherMeanRot2', 'FindKarcherMeanRot3', 'FindKarcherMeanSO3', 'FindKarcherMeanSO4', 'FitBasisChebyshev1Basis', 'FitBasisChebyshev2', 'FitBasisChebyshev2Basis', 'FitBasisFourierBasis', 'FixedLagSmoother', 'FixedLagSmootherResult', 'FourierBasis', 'FrobeniusBetweenFactorPose2', 'FrobeniusBetweenFactorPose3', 'FrobeniusBetweenFactorRot2', 'FrobeniusBetweenFactorRot3', 'FrobeniusBetweenFactorSO3', 'FrobeniusBetweenFactorSO4', 'FrobeniusFactorPose2', 'FrobeniusFactorPose3', 'FrobeniusFactorRot2', 'FrobeniusFactorRot3', 'FrobeniusFactorSO3', 'FrobeniusFactorSO4', 'FrobeniusPriorPose2', 'FrobeniusPriorPose3', 'FrobeniusPriorRot2', 'FrobeniusPriorRot3', 'FrobeniusPriorSO3', 'FrobeniusPriorSO4', 'FundamentalMatrix', 'GPSFactor', 'GPSFactor2', 'GPSFactor2Arm', 'GPSFactor2ArmCalib', 'GPSFactorArm', 'GPSFactorArmCalib', 'GaussNewtonOptimizer', 'GaussNewtonParams', 'GaussianBayesNet', 'GaussianBayesTree', 'GaussianBayesTreeClique', 'GaussianConditional', 'GaussianDensity', 'GaussianEliminationTree', 'GaussianFactor', 'GaussianFactorGraph', 'GaussianISAM', 'GeneralSFMFactor2Cal3Bundler', 'GeneralSFMFactor2Cal3DS2', 'GeneralSFMFactor2Cal3Fisheye', 'GeneralSFMFactor2Cal3Unified', 'GeneralSFMFactor2Cal3_S2', 'GeneralSFMFactor2Cal3f', 'GeneralSFMFactorCal3Bundler', 'GeneralSFMFactorCal3DS2', 'GeneralSFMFactorCal3Fisheye', 'GeneralSFMFactorCal3Unified', 'GeneralSFMFactorCal3_S2', 'GeneralSFMFactorPoseCal3Bundler', 'GeneralSFMFactorPoseCal3DS2', 'GeneralSFMFactorPoseCal3Fisheye', 'GeneralSFMFactorPoseCal3Unified', 'GeneralSFMFactorPoseCal3_S2', 'GenericProjectionFactorCal3DS2', 'GenericProjectionFactorCal3Fisheye', 'GenericProjectionFactorCal3Unified', 'GenericProjectionFactorCal3_S2', 'GenericStereoFactor3D', 'GenericValueCal3Bundler', 'GenericValueCal3DS2', 'GenericValueCal3Fisheye', 'GenericValueCal3Unified', 'GenericValueCal3_S2', 'GenericValueCalibratedCamera', 'GenericValueConstantBias', 'GenericValueEssentialMatrix', 'GenericValueMatrix', 'GenericValuePoint2', 'GenericValuePoint3', 'GenericValuePose2', 'GenericValuePose3', 'GenericValueRot2', 'GenericValueRot3', 'GenericValueStereoPoint2', 'GenericValueVector', 'GncGaussNewtonOptimizer', 'GncGaussNewtonParams', 'GncLMOptimizer', 'GncLMParams', 'GncLossType', 'GraphvizFormatting', 'HessianFactor', 'HybridBayesNet', 'HybridBayesTree', 'HybridBayesTreeClique', 'HybridConditional', 'HybridFactor', 'HybridGaussianConditional', 'HybridGaussianFactor', 'HybridGaussianFactorGraph', 'HybridNonlinearFactor', 'HybridNonlinearFactorGraph', 'HybridOrdering', 'HybridSmoother', 'HybridValues', 'ISAM2', 'ISAM2Clique', 'ISAM2DoglegParams', 'ISAM2GaussNewtonParams', 'ISAM2Params', 'ISAM2Result', 'ISAM2ThresholdMap', 'ImuFactor', 'ImuFactor2', 'IncrementalFixedLagSmoother', 'IndexPair', 'IndexPairSetAsArray', 'InitializePose3', 'IterativeOptimizationParameters', 'JacobianFactor', 'JacobianVector', 'JointMarginal', 'KalmanFilter', 'KarcherMeanFactorPoint2', 'KarcherMeanFactorPoint3', 'KarcherMeanFactorPose2', 'KarcherMeanFactorPose3', 'KarcherMeanFactorRot2', 'KarcherMeanFactorRot3', 'KarcherMeanFactorSO3', 'KarcherMeanFactorSO4', 'KernelFunctionType', 'KeyGroupMap', 'KeyList', 'KeySet', 'LabeledSymbol', 'LevenbergMarquardtOptimizer', 'LevenbergMarquardtParams', 'LinearContainerFactor', 'LinearizationMode', 'MFAS', 'MT19937', 'MagFactor', 'MagFactor1', 'MagPoseFactorPose2', 'MagPoseFactorPose3', 'ManifoldEvaluationFactorChebyshev1BasisPose2', 'ManifoldEvaluationFactorChebyshev1BasisPose3', 'ManifoldEvaluationFactorChebyshev1BasisRot2', 'ManifoldEvaluationFactorChebyshev1BasisRot3', 'ManifoldEvaluationFactorChebyshev2BasisPose2', 'ManifoldEvaluationFactorChebyshev2BasisPose3', 'ManifoldEvaluationFactorChebyshev2BasisRot2', 'ManifoldEvaluationFactorChebyshev2BasisRot3', 'ManifoldEvaluationFactorChebyshev2Pose2', 'ManifoldEvaluationFactorChebyshev2Pose3', 'ManifoldEvaluationFactorChebyshev2Rot2', 'ManifoldEvaluationFactorChebyshev2Rot3', 'ManifoldEvaluationFactorFourierBasisPose2', 'ManifoldEvaluationFactorFourierBasisPose3', 'ManifoldEvaluationFactorFourierBasisRot2', 'ManifoldEvaluationFactorFourierBasisRot3', 'Marginals', 'NavState', 'NoiseFormat', 'NoiseModelFactor', 'NonlinearEquality2Cal3_S2', 'NonlinearEquality2CalibratedCamera', 'NonlinearEquality2ConstantBias', 'NonlinearEquality2PinholeCameraCal3Bundler', 'NonlinearEquality2PinholeCameraCal3Fisheye', 'NonlinearEquality2PinholeCameraCal3Unified', 'NonlinearEquality2PinholeCameraCal3_S2', 'NonlinearEquality2Point2', 'NonlinearEquality2Point3', 'NonlinearEquality2Pose2', 'NonlinearEquality2Pose3', 'NonlinearEquality2Rot2', 'NonlinearEquality2Rot3', 'NonlinearEquality2SO3', 'NonlinearEquality2SO4', 'NonlinearEquality2SOn', 'NonlinearEquality2Similarity2', 'NonlinearEquality2Similarity3', 'NonlinearEquality2StereoPoint2', 'NonlinearEqualityCal3_S2', 'NonlinearEqualityCalibratedCamera', 'NonlinearEqualityConstantBias', 'NonlinearEqualityPinholeCameraCal3Bundler', 'NonlinearEqualityPinholeCameraCal3Fisheye', 'NonlinearEqualityPinholeCameraCal3Unified', 'NonlinearEqualityPinholeCameraCal3_S2', 'NonlinearEqualityPoint2', 'NonlinearEqualityPoint3', 'NonlinearEqualityPose2', 'NonlinearEqualityPose3', 'NonlinearEqualityRot2', 'NonlinearEqualityRot3', 'NonlinearEqualitySO3', 'NonlinearEqualitySO4', 'NonlinearEqualitySOn', 'NonlinearEqualitySimilarity2', 'NonlinearEqualitySimilarity3', 'NonlinearEqualityStereoPoint2', 'NonlinearFactor', 'NonlinearFactorGraph', 'NonlinearISAM', 'NonlinearOptimizer', 'NonlinearOptimizerParams', 'Ordering', 'OrientedPlane3', 'OrientedPlane3DirectionPrior', 'OrientedPlane3Factor', 'PCGSolverParameters', 'PinholeCameraCal3Bundler', 'PinholeCameraCal3DS2', 'PinholeCameraCal3Fisheye', 'PinholeCameraCal3Unified', 'PinholeCameraCal3_S2', 'PinholeCameraCal3f', 'PinholePoseCal3Bundler', 'PinholePoseCal3DS2', 'PinholePoseCal3Fisheye', 'PinholePoseCal3Unified', 'PinholePoseCal3_S2', 'PlanarProjectionFactor1', 'PlanarProjectionFactor2', 'PlanarProjectionFactor3', 'Pose2', 'Pose3', 'Pose3AttitudeFactor', 'PoseRotationPrior2D', 'PoseRotationPrior3D', 'PoseTranslationPrior2D', 'PoseTranslationPrior3D', 'PreconditionerParameters', 'PreintegratedAhrsMeasurements', 'PreintegratedCombinedMeasurements', 'PreintegratedImuMeasurements', 'PreintegratedRotation', 'PreintegratedRotationParams', 'PreintegrationCombinedParams', 'PreintegrationParams', 'PrintDiscreteValues', 'PrintKeyList', 'PrintKeySet', 'PrintKeyVector', 'PriorFactorCal3Bundler', 'PriorFactorCal3DS2', 'PriorFactorCal3Fisheye', 'PriorFactorCal3Unified', 'PriorFactorCal3_S2', 'PriorFactorCalibratedCamera', 'PriorFactorConstantBias', 'PriorFactorDouble', 'PriorFactorNavState', 'PriorFactorPinholeCameraCal3Bundler', 'PriorFactorPinholeCameraCal3Fisheye', 'PriorFactorPinholeCameraCal3Unified', 'PriorFactorPinholeCameraCal3_S2', 'PriorFactorPoint2', 'PriorFactorPoint3', 'PriorFactorPose2', 'PriorFactorPose3', 'PriorFactorRot2', 'PriorFactorRot3', 'PriorFactorSO3', 'PriorFactorSO4', 'PriorFactorSOn', 'PriorFactorSimilarity2', 'PriorFactorSimilarity3', 'PriorFactorStereoPoint2', 'PriorFactorUnit3', 'PriorFactorVector', 'Quaternion', 'RangeFactor2', 'RangeFactor2D', 'RangeFactor3', 'RangeFactor3D', 'RangeFactorCalibratedCamera', 'RangeFactorCalibratedCameraPoint', 'RangeFactorPose2', 'RangeFactorPose3', 'RangeFactorSimpleCamera', 'RangeFactorSimpleCameraPoint', 'RangeFactorWithTransform2D', 'RangeFactorWithTransform3D', 'RangeFactorWithTransformPose2', 'RangeFactorWithTransformPose3', 'RedirectCout', 'ReferenceFrameFactorPoint3Pose3', 'Rot2', 'Rot3', 'Rot3AttitudeFactor', 'RotateDirectionsFactor', 'RotateFactor', 'SO3', 'SO4', 'SOn', 'Sampler', 'Scenario', 'ScenarioRunner', 'SfmData', 'SfmTrack', 'SfmTrack2d', 'ShonanAveraging2', 'ShonanAveraging3', 'ShonanAveragingParameters2', 'ShonanAveragingParameters3', 'ShonanFactor3', 'Similarity2', 'Similarity3', 'SimpleFundamentalMatrix', 'SmartFactorBasePinholeCameraCal3Bundler', 'SmartFactorBasePinholeCameraCal3DS2', 'SmartFactorBasePinholeCameraCal3Fisheye', 'SmartFactorBasePinholeCameraCal3Unified', 'SmartFactorBasePinholeCameraCal3_S2', 'SmartFactorBasePinholePoseCal3Bundler', 'SmartFactorBasePinholePoseCal3DS2', 'SmartFactorBasePinholePoseCal3Fisheye', 'SmartFactorBasePinholePoseCal3Unified', 'SmartFactorBasePinholePoseCal3_S2', 'SmartProjectionFactorPinholeCameraCal3Bundler', 'SmartProjectionFactorPinholeCameraCal3DS2', 'SmartProjectionFactorPinholeCameraCal3Fisheye', 'SmartProjectionFactorPinholeCameraCal3Unified', 'SmartProjectionFactorPinholeCameraCal3_S2', 'SmartProjectionFactorPinholePoseCal3Bundler', 'SmartProjectionFactorPinholePoseCal3DS2', 'SmartProjectionFactorPinholePoseCal3Fisheye', 'SmartProjectionFactorPinholePoseCal3Unified', 'SmartProjectionFactorPinholePoseCal3_S2', 'SmartProjectionParams', 'SmartProjectionPoseFactorCal3Bundler', 'SmartProjectionPoseFactorCal3DS2', 'SmartProjectionPoseFactorCal3Fisheye', 'SmartProjectionPoseFactorCal3Unified', 'SmartProjectionPoseFactorCal3_S2', 'SmartProjectionRigFactorPinholePoseCal3Bundler', 'SmartProjectionRigFactorPinholePoseCal3DS2', 'SmartProjectionRigFactorPinholePoseCal3Fisheye', 'SmartProjectionRigFactorPinholePoseCal3Unified', 'SmartProjectionRigFactorPinholePoseCal3_S2', 'StereoCamera', 'StereoPoint2', 'SubgraphSolver', 'SubgraphSolverParameters', 'Symbol', 'SymbolicBayesNet', 'SymbolicBayesTree', 'SymbolicBayesTreeClique', 'SymbolicCluster', 'SymbolicConditional', 'SymbolicEliminationTree', 'SymbolicFactor', 'SymbolicFactorGraph', 'SymbolicJunctionTree', 'TableDistribution', 'TableFactor', 'TransferFactorFundamentalMatrix', 'TransferFactorSimpleFundamentalMatrix', 'TranslationRecovery', 'TriangulationFactorCal3Bundler', 'TriangulationFactorCal3DS2', 'TriangulationFactorCal3Fisheye', 'TriangulationFactorCal3Unified', 'TriangulationFactorCal3_S2', 'TriangulationFactorPoseCal3Bundler', 'TriangulationFactorPoseCal3DS2', 'TriangulationFactorPoseCal3Fisheye', 'TriangulationFactorPoseCal3Unified', 'TriangulationFactorPoseCal3_S2', 'TriangulationParameters', 'TriangulationResult', 'Unit3', 'Value', 'Values', 'VariableIndex', 'VectorComponentFactorChebyshev1Basis', 'VectorComponentFactorChebyshev2', 'VectorComponentFactorChebyshev2Basis', 'VectorComponentFactorFourierBasis', 'VectorDerivativeFactorChebyshev1Basis', 'VectorDerivativeFactorChebyshev2', 'VectorDerivativeFactorChebyshev2Basis', 'VectorDerivativeFactorFourierBasis', 'VectorEvaluationFactorChebyshev1Basis', 'VectorEvaluationFactorChebyshev2', 'VectorEvaluationFactorChebyshev2Basis', 'VectorEvaluationFactorFourierBasis', 'VectorValues', 'cartesianProduct', 'checkConvergence', 'gtsfm', 'html', 'imuBias', 'initialCamerasAndPointsEstimate', 'initialCamerasEstimate', 'isDebugVersion', 'lago', 'linear_independent', 'load2D', 'load3D', 'markdown', 'mrsymbol', 'mrsymbolChr', 'mrsymbolIndex', 'mrsymbolLabel', 'noiseModel', 'parse2DFactors', 'parse3DFactors', 'readBal', 'readG2o', 'save2D', 'so3', 'symbol', 'symbolChr', 'symbolIndex', 'symbol_shorthand', 'triangulateNonlinear', 'triangulatePoint3', 'triangulateSafe', 'utilities', 'writeBAL', 'writeG2o']
+__all__ = ['AHRSFactor', 'AcceleratingScenario', 'AlgebraicDecisionTreeKey', 'AssignmentKey', 'BarometricFactor', 'BatchFixedLagSmoother', 'BearingFactor2D', 'BearingFactor3D', 'BearingFactorPose2', 'BearingRange2D', 'BearingRange3D', 'BearingRangeFactor2D', 'BearingRangeFactor3D', 'BearingRangeFactorPose2', 'BearingRangeFactorPose3', 'BearingRangePose2', 'BearingRangePose3', 'BetweenFactorConstantBias', 'BetweenFactorDouble', 'BetweenFactorPoint2', 'BetweenFactorPoint3', 'BetweenFactorPose2', 'BetweenFactorPose3', 'BetweenFactorRot2', 'BetweenFactorRot3', 'BetweenFactorSL4', 'BetweenFactorSO3', 'BetweenFactorSO4', 'BetweenFactorSimilarity2', 'BetweenFactorSimilarity3', 'BetweenFactorVector', 'BinaryMeasurementPoint3', 'BinaryMeasurementRot3', 'BinaryMeasurementUnit3', 'BlockJacobiPreconditionerParameters', 'Cal3', 'Cal3Bundler', 'Cal3DS2', 'Cal3DS2_Base', 'Cal3Fisheye', 'Cal3Unified', 'Cal3_S2', 'Cal3_S2Stereo', 'Cal3f', 'CalibratedCamera', 'CameraSetCal3Bundler', 'CameraSetCal3DS2', 'CameraSetCal3Fisheye', 'CameraSetCal3Unified', 'CameraSetCal3_S2', 'CameraSetPinholePoseCal3_S2', 'Chebyshev1Basis', 'Chebyshev2', 'Chebyshev2Basis', 'CombinedImuFactor', 'ComponentDerivativeFactorChebyshev1Basis', 'ComponentDerivativeFactorChebyshev2', 'ComponentDerivativeFactorChebyshev2Basis', 'ComponentDerivativeFactorFourierBasis', 'ConjugateGradientParameters', 'ConstantTwistScenario', 'ConstantVelocityFactor', 'ConvertNoiseModel', 'CustomFactor', 'DSFMapIndexPair', 'DecisionTreeFactor', 'DegeneracyMode', 'DerivativeFactorChebyshev1Basis', 'DerivativeFactorChebyshev2', 'DerivativeFactorChebyshev2Basis', 'DerivativeFactorFourierBasis', 'DiscreteBayesNet', 'DiscreteBayesTree', 'DiscreteBayesTreeClique', 'DiscreteCluster', 'DiscreteConditional', 'DiscreteDistribution', 'DiscreteEliminationTree', 'DiscreteFactor', 'DiscreteFactorGraph', 'DiscreteJunctionTree', 'DiscreteKeys', 'DiscreteLookupDAG', 'DiscreteLookupTable', 'DiscreteMarginals', 'DiscreteScenario', 'DiscreteSearch', 'DiscreteSearchSolution', 'DiscreteValues', 'DoglegOptimizer', 'DoglegParams', 'DotWriter', 'DummyPreconditionerParameters', 'EdgeKey', 'EliminateDiscrete', 'EliminateForMPE', 'EliminateQR', 'EpipolarTransfer', 'EssentialMatrix', 'EssentialMatrixConstraint', 'EssentialMatrixFactor', 'EssentialMatrixFactor2', 'EssentialMatrixFactor3', 'EssentialMatrixFactor4Cal3Bundler', 'EssentialMatrixFactor4Cal3DS2', 'EssentialMatrixFactor4Cal3Fisheye', 'EssentialMatrixFactor4Cal3Unified', 'EssentialMatrixFactor4Cal3_S2', 'EssentialMatrixFactor4Cal3f', 'EssentialMatrixFactor5Cal3Bundler', 'EssentialMatrixFactor5Cal3DS2', 'EssentialMatrixFactor5Cal3Fisheye', 'EssentialMatrixFactor5Cal3Unified', 'EssentialMatrixFactor5Cal3_S2', 'EssentialMatrixFactor5Cal3f', 'EssentialTransferFactorCal3Bundler', 'EssentialTransferFactorCal3_S2', 'EssentialTransferFactorCal3f', 'EssentialTransferFactorKCal3Bundler', 'EssentialTransferFactorKCal3_S2', 'EssentialTransferFactorKCal3f', 'EvaluationFactorChebyshev1Basis', 'EvaluationFactorChebyshev2', 'EvaluationFactorChebyshev2Basis', 'EvaluationFactorFourierBasis', 'Event', 'ExtendedKalmanFilterConstantBias', 'ExtendedKalmanFilterNavState', 'ExtendedKalmanFilterPoint2', 'ExtendedKalmanFilterPoint3', 'ExtendedKalmanFilterPose2', 'ExtendedKalmanFilterPose3', 'ExtendedKalmanFilterRot2', 'ExtendedKalmanFilterRot3', 'ExtendedKalmanFilterSL4', 'ExtendedKalmanFilterSimilarity2', 'ExtendedKalmanFilterSimilarity3', 'Factor', 'FindKarcherMeanPoint2', 'FindKarcherMeanPoint3', 'FindKarcherMeanPose2', 'FindKarcherMeanPose3', 'FindKarcherMeanRot2', 'FindKarcherMeanRot3', 'FindKarcherMeanSO3', 'FindKarcherMeanSO4', 'FitBasisChebyshev1Basis', 'FitBasisChebyshev2', 'FitBasisChebyshev2Basis', 'FitBasisFourierBasis', 'FixedLagSmoother', 'FixedLagSmootherResult', 'FourierBasis', 'FrobeniusBetweenFactorGal3', 'FrobeniusBetweenFactorPose2', 'FrobeniusBetweenFactorPose3', 'FrobeniusBetweenFactorRot2', 'FrobeniusBetweenFactorRot3', 'FrobeniusBetweenFactorSO3', 'FrobeniusBetweenFactorSO4', 'FrobeniusBetweenFactorSimilarity2', 'FrobeniusBetweenFactorSimilarity3', 'FrobeniusFactorGal3', 'FrobeniusFactorPose2', 'FrobeniusFactorPose3', 'FrobeniusFactorRot2', 'FrobeniusFactorRot3', 'FrobeniusFactorSO3', 'FrobeniusFactorSO4', 'FrobeniusFactorSimilarity2', 'FrobeniusFactorSimilarity3', 'FrobeniusPriorGal3', 'FrobeniusPriorPose2', 'FrobeniusPriorPose3', 'FrobeniusPriorRot2', 'FrobeniusPriorRot3', 'FrobeniusPriorSO3', 'FrobeniusPriorSO4', 'FrobeniusPriorSimilarity2', 'FrobeniusPriorSimilarity3', 'FundamentalMatrix', 'GPSFactor', 'GPSFactor2', 'GPSFactor2Arm', 'GPSFactor2ArmCalib', 'GPSFactorArm', 'GPSFactorArmCalib', 'Gal3', 'GaussNewtonOptimizer', 'GaussNewtonParams', 'GaussianBayesNet', 'GaussianBayesTree', 'GaussianBayesTreeClique', 'GaussianConditional', 'GaussianDensity', 'GaussianEliminationTree', 'GaussianFactor', 'GaussianFactorGraph', 'GaussianISAM', 'GeneralSFMFactor2Cal3Bundler', 'GeneralSFMFactor2Cal3DS2', 'GeneralSFMFactor2Cal3Fisheye', 'GeneralSFMFactor2Cal3Unified', 'GeneralSFMFactor2Cal3_S2', 'GeneralSFMFactor2Cal3f', 'GeneralSFMFactorCal3Bundler', 'GeneralSFMFactorCal3DS2', 'GeneralSFMFactorCal3Fisheye', 'GeneralSFMFactorCal3Unified', 'GeneralSFMFactorCal3_S2', 'GeneralSFMFactorPoseCal3Bundler', 'GeneralSFMFactorPoseCal3DS2', 'GeneralSFMFactorPoseCal3Fisheye', 'GeneralSFMFactorPoseCal3Unified', 'GeneralSFMFactorPoseCal3_S2', 'GenericProjectionFactorCal3DS2', 'GenericProjectionFactorCal3Fisheye', 'GenericProjectionFactorCal3Unified', 'GenericProjectionFactorCal3_S2', 'GenericStereoFactor3D', 'GenericValueCal3Bundler', 'GenericValueCal3DS2', 'GenericValueCal3Fisheye', 'GenericValueCal3Unified', 'GenericValueCal3_S2', 'GenericValueCalibratedCamera', 'GenericValueConstantBias', 'GenericValueEssentialMatrix', 'GenericValueMatrix', 'GenericValuePoint2', 'GenericValuePoint3', 'GenericValuePose2', 'GenericValuePose3', 'GenericValueRot2', 'GenericValueRot3', 'GenericValueStereoPoint2', 'GenericValueVector', 'GncGaussNewtonOptimizer', 'GncGaussNewtonParams', 'GncLMOptimizer', 'GncLMParams', 'GncLossType', 'GraphvizFormatting', 'HessianFactor', 'HybridBayesNet', 'HybridBayesTree', 'HybridBayesTreeClique', 'HybridConditional', 'HybridFactor', 'HybridGaussianConditional', 'HybridGaussianFactor', 'HybridGaussianFactorGraph', 'HybridNonlinearFactor', 'HybridNonlinearFactorGraph', 'HybridOrdering', 'HybridSmoother', 'HybridValues', 'ISAM2', 'ISAM2Clique', 'ISAM2DoglegParams', 'ISAM2GaussNewtonParams', 'ISAM2Params', 'ISAM2Result', 'ISAM2ThresholdMap', 'ImuFactor', 'ImuFactor2', 'IncrementalFixedLagSmoother', 'IndexPair', 'IndexPairSetAsArray', 'InitializePose3', 'IterativeOptimizationParameters', 'JacobianFactor', 'JacobianVector', 'JointMarginal', 'KalmanFilter', 'KarcherMeanFactorPoint2', 'KarcherMeanFactorPoint3', 'KarcherMeanFactorPose2', 'KarcherMeanFactorPose3', 'KarcherMeanFactorRot2', 'KarcherMeanFactorRot3', 'KarcherMeanFactorSO3', 'KarcherMeanFactorSO4', 'KernelFunctionType', 'KeyGroupMap', 'KeyList', 'KeySet', 'LabeledSymbol', 'LevenbergMarquardtOptimizer', 'LevenbergMarquardtParams', 'LinearContainerFactor', 'LinearizationMode', 'MFAS', 'MT19937', 'MagFactor', 'MagFactor1', 'MagPoseFactorPose2', 'MagPoseFactorPose3', 'ManifoldEvaluationFactorChebyshev1BasisPose2', 'ManifoldEvaluationFactorChebyshev1BasisPose3', 'ManifoldEvaluationFactorChebyshev1BasisRot2', 'ManifoldEvaluationFactorChebyshev1BasisRot3', 'ManifoldEvaluationFactorChebyshev2BasisPose2', 'ManifoldEvaluationFactorChebyshev2BasisPose3', 'ManifoldEvaluationFactorChebyshev2BasisRot2', 'ManifoldEvaluationFactorChebyshev2BasisRot3', 'ManifoldEvaluationFactorChebyshev2Pose2', 'ManifoldEvaluationFactorChebyshev2Pose3', 'ManifoldEvaluationFactorChebyshev2Rot2', 'ManifoldEvaluationFactorChebyshev2Rot3', 'ManifoldEvaluationFactorFourierBasisPose2', 'ManifoldEvaluationFactorFourierBasisPose3', 'ManifoldEvaluationFactorFourierBasisRot2', 'ManifoldEvaluationFactorFourierBasisRot3', 'Marginals', 'NavState', 'NoiseFormat', 'NoiseModelFactor', 'NonlinearEquality2Cal3_S2', 'NonlinearEquality2CalibratedCamera', 'NonlinearEquality2ConstantBias', 'NonlinearEquality2PinholeCameraCal3Bundler', 'NonlinearEquality2PinholeCameraCal3Fisheye', 'NonlinearEquality2PinholeCameraCal3Unified', 'NonlinearEquality2PinholeCameraCal3_S2', 'NonlinearEquality2Point2', 'NonlinearEquality2Point3', 'NonlinearEquality2Pose2', 'NonlinearEquality2Pose3', 'NonlinearEquality2Rot2', 'NonlinearEquality2Rot3', 'NonlinearEquality2SL4', 'NonlinearEquality2SO3', 'NonlinearEquality2SO4', 'NonlinearEquality2SOn', 'NonlinearEquality2Similarity2', 'NonlinearEquality2Similarity3', 'NonlinearEquality2StereoPoint2', 'NonlinearEqualityCal3_S2', 'NonlinearEqualityCalibratedCamera', 'NonlinearEqualityConstantBias', 'NonlinearEqualityPinholeCameraCal3Bundler', 'NonlinearEqualityPinholeCameraCal3Fisheye', 'NonlinearEqualityPinholeCameraCal3Unified', 'NonlinearEqualityPinholeCameraCal3_S2', 'NonlinearEqualityPoint2', 'NonlinearEqualityPoint3', 'NonlinearEqualityPose2', 'NonlinearEqualityPose3', 'NonlinearEqualityRot2', 'NonlinearEqualityRot3', 'NonlinearEqualitySL4', 'NonlinearEqualitySO3', 'NonlinearEqualitySO4', 'NonlinearEqualitySOn', 'NonlinearEqualitySimilarity2', 'NonlinearEqualitySimilarity3', 'NonlinearEqualityStereoPoint2', 'NonlinearFactor', 'NonlinearFactorGraph', 'NonlinearISAM', 'NonlinearOptimizer', 'NonlinearOptimizerParams', 'Ordering', 'OrientedPlane3', 'OrientedPlane3DirectionPrior', 'OrientedPlane3Factor', 'PCGSolverParameters', 'PinholeCameraCal3Bundler', 'PinholeCameraCal3DS2', 'PinholeCameraCal3Fisheye', 'PinholeCameraCal3Unified', 'PinholeCameraCal3_S2', 'PinholeCameraCal3f', 'PinholePoseCal3Bundler', 'PinholePoseCal3DS2', 'PinholePoseCal3Fisheye', 'PinholePoseCal3Unified', 'PinholePoseCal3_S2', 'PlanarProjectionFactor1', 'PlanarProjectionFactor2', 'PlanarProjectionFactor3', 'Pose2', 'Pose3', 'Pose3AttitudeFactor', 'PoseRotationPrior2D', 'PoseRotationPrior3D', 'PoseTranslationPrior2D', 'PoseTranslationPrior3D', 'PreconditionerParameters', 'PreintegratedAhrsMeasurements', 'PreintegratedCombinedMeasurements', 'PreintegratedImuMeasurements', 'PreintegratedRotation', 'PreintegratedRotationParams', 'PreintegrationCombinedParams', 'PreintegrationParams', 'PrintDiscreteValues', 'PrintKeyList', 'PrintKeySet', 'PrintKeyVector', 'PriorFactorCal3Bundler', 'PriorFactorCal3DS2', 'PriorFactorCal3Fisheye', 'PriorFactorCal3Unified', 'PriorFactorCal3_S2', 'PriorFactorCalibratedCamera', 'PriorFactorConstantBias', 'PriorFactorDouble', 'PriorFactorNavState', 'PriorFactorPinholeCameraCal3Bundler', 'PriorFactorPinholeCameraCal3Fisheye', 'PriorFactorPinholeCameraCal3Unified', 'PriorFactorPinholeCameraCal3_S2', 'PriorFactorPoint2', 'PriorFactorPoint3', 'PriorFactorPose2', 'PriorFactorPose3', 'PriorFactorRot2', 'PriorFactorRot3', 'PriorFactorSL4', 'PriorFactorSO3', 'PriorFactorSO4', 'PriorFactorSOn', 'PriorFactorSimilarity2', 'PriorFactorSimilarity3', 'PriorFactorStereoPoint2', 'PriorFactorUnit3', 'PriorFactorVector', 'Quaternion', 'RangeFactor2', 'RangeFactor2D', 'RangeFactor3', 'RangeFactor3D', 'RangeFactorCalibratedCamera', 'RangeFactorCalibratedCameraPoint', 'RangeFactorPose2', 'RangeFactorPose3', 'RangeFactorSimpleCamera', 'RangeFactorSimpleCameraPoint', 'RangeFactorWithTransform2D', 'RangeFactorWithTransform3D', 'RangeFactorWithTransformPose2', 'RangeFactorWithTransformPose3', 'RedirectCout', 'ReferenceFrameFactorPoint3Pose3', 'Rot2', 'Rot3', 'Rot3AttitudeFactor', 'RotateDirectionsFactor', 'RotateFactor', 'SL4', 'SO3', 'SO4', 'SOn', 'Sampler', 'Scenario', 'ScenarioRunner', 'SfmData', 'SfmTrack', 'SfmTrack2d', 'ShonanAveraging2', 'ShonanAveraging3', 'ShonanAveragingParameters2', 'ShonanAveragingParameters3', 'ShonanFactor3', 'Similarity2', 'Similarity3', 'SimpleFundamentalMatrix', 'SmartFactorBasePinholeCameraCal3Bundler', 'SmartFactorBasePinholeCameraCal3DS2', 'SmartFactorBasePinholeCameraCal3Fisheye', 'SmartFactorBasePinholeCameraCal3Unified', 'SmartFactorBasePinholeCameraCal3_S2', 'SmartFactorBasePinholePoseCal3Bundler', 'SmartFactorBasePinholePoseCal3DS2', 'SmartFactorBasePinholePoseCal3Fisheye', 'SmartFactorBasePinholePoseCal3Unified', 'SmartFactorBasePinholePoseCal3_S2', 'SmartProjectionFactorPinholeCameraCal3Bundler', 'SmartProjectionFactorPinholeCameraCal3DS2', 'SmartProjectionFactorPinholeCameraCal3Fisheye', 'SmartProjectionFactorPinholeCameraCal3Unified', 'SmartProjectionFactorPinholeCameraCal3_S2', 'SmartProjectionFactorPinholePoseCal3Bundler', 'SmartProjectionFactorPinholePoseCal3DS2', 'SmartProjectionFactorPinholePoseCal3Fisheye', 'SmartProjectionFactorPinholePoseCal3Unified', 'SmartProjectionFactorPinholePoseCal3_S2', 'SmartProjectionParams', 'SmartProjectionPoseFactorCal3Bundler', 'SmartProjectionPoseFactorCal3DS2', 'SmartProjectionPoseFactorCal3Fisheye', 'SmartProjectionPoseFactorCal3Unified', 'SmartProjectionPoseFactorCal3_S2', 'SmartProjectionRigFactorPinholePoseCal3Bundler', 'SmartProjectionRigFactorPinholePoseCal3DS2', 'SmartProjectionRigFactorPinholePoseCal3Fisheye', 'SmartProjectionRigFactorPinholePoseCal3Unified', 'SmartProjectionRigFactorPinholePoseCal3_S2', 'StereoCamera', 'StereoPoint2', 'SubgraphSolver', 'SubgraphSolverParameters', 'Symbol', 'SymbolicBayesNet', 'SymbolicBayesTree', 'SymbolicBayesTreeClique', 'SymbolicCluster', 'SymbolicConditional', 'SymbolicEliminationTree', 'SymbolicFactor', 'SymbolicFactorGraph', 'SymbolicJunctionTree', 'TableDistribution', 'TableFactor', 'TransferFactorFundamentalMatrix', 'TransferFactorSimpleFundamentalMatrix', 'TranslationRecovery', 'TriangulationFactorCal3Bundler', 'TriangulationFactorCal3DS2', 'TriangulationFactorCal3Fisheye', 'TriangulationFactorCal3Unified', 'TriangulationFactorCal3_S2', 'TriangulationFactorPoseCal3Bundler', 'TriangulationFactorPoseCal3DS2', 'TriangulationFactorPoseCal3Fisheye', 'TriangulationFactorPoseCal3Unified', 'TriangulationFactorPoseCal3_S2', 'TriangulationParameters', 'TriangulationResult', 'Unit3', 'Value', 'Values', 'VariableIndex', 'VectorComponentFactorChebyshev1Basis', 'VectorComponentFactorChebyshev2', 'VectorComponentFactorChebyshev2Basis', 'VectorComponentFactorFourierBasis', 'VectorDerivativeFactorChebyshev1Basis', 'VectorDerivativeFactorChebyshev2', 'VectorDerivativeFactorChebyshev2Basis', 'VectorDerivativeFactorFourierBasis', 'VectorEvaluationFactorChebyshev1Basis', 'VectorEvaluationFactorChebyshev2', 'VectorEvaluationFactorChebyshev2Basis', 'VectorEvaluationFactorFourierBasis', 'VectorValues', 'cartesianProduct', 'checkConvergence', 'gtsfm', 'html', 'imuBias', 'initialCamerasAndPointsEstimate', 'initialCamerasEstimate', 'isDebugVersion', 'lago', 'linear_independent', 'load2D', 'load3D', 'markdown', 'mrsymbol', 'mrsymbolChr', 'mrsymbolIndex', 'mrsymbolLabel', 'noiseModel', 'parse2DFactors', 'parse3DFactors', 'readBal', 'readG2o', 'save2D', 'so3', 'symbol', 'symbolChr', 'symbolIndex', 'symbol_shorthand', 'triangulateNonlinear', 'triangulatePoint3', 'triangulateSafe', 'utilities', 'writeBAL', 'writeG2o']
 class AHRSFactor(NonlinearFactor):
     def __getstate__(self) -> tuple:
         ...
@@ -144,6 +144,8 @@ class BatchFixedLagSmoother(FixedLagSmoother):
         ...
     def calculateEstimateRot3(self, key: int) -> Rot3:
         ...
+    def calculateEstimateSL4(self, key: int) -> SL4:
+        ...
     def calculateEstimateSimilarity2(self, key: int) -> Similarity2:
         ...
     def calculateEstimateSimilarity3(self, key: int) -> Similarity3:
@@ -435,6 +437,19 @@ class BetweenFactorRot3(NoiseModelFactor):
         ...
     def serialize(self) -> str:
         ...
+class BetweenFactorSL4(NoiseModelFactor):
+    def __getstate__(self) -> tuple:
+        ...
+    def __init__(self, key1: int, key2: int, relativePose: SL4, noiseModel: noiseModel.Base) -> None:
+        ...
+    def __setstate__(self, arg0: tuple) -> None:
+        ...
+    def deserialize(self, serialized: str) -> None:
+        ...
+    def measured(self) -> SL4:
+        ...
+    def serialize(self) -> str:
+        ...
 class BetweenFactorSO3(NoiseModelFactor):
     def __getstate__(self) -> tuple:
         ...
@@ -537,11 +552,6 @@ class BlockJacobiPreconditionerParameters(PreconditionerParameters):
     def __init__(self) -> None:
         ...
 class Cal3:
-    @staticmethod
-    def Dim() -> int:
-        """
-        return DOF, dimensionality of tangent space
-        """
     def K(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
         """
         return calibration matrix K
@@ -561,10 +571,6 @@ class Cal3:
         """
         aspect ratio
         """
-    def dim(self) -> int:
-        """
-        return DOF, dimensionality of tangent space
-        """
     def equals(self, K: Cal3, tol: float) -> bool:
         """
         Check if equal up to specified tolerance.
@@ -712,6 +718,10 @@ class Cal3DS2_Base(Cal3):
         """
     def deserialize(self, serialized: str) -> None:
         ...
+    def k(self) -> numpy.ndarray[tuple[typing.Literal[4], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        """
+        return distortion parameter vector
+        """
     def k1(self) -> float:
         """
         First distortion coefficient.
@@ -720,6 +730,14 @@ class Cal3DS2_Base(Cal3):
         """
         Second distortion coefficient.
         """
+    def p1(self) -> float:
+        """
+        First tangential distortion coefficient.
+        """
+    def p2(self) -> float:
+        """
+        Second tangential distortion coefficient.
+        """
     def print(self, s: str = '') -> None:
         """
         print with optional string
@@ -748,6 +766,10 @@ class Cal3DS2_Base(Cal3):
         
         Returns: point in (distorted) image coordinates
         """
+    def vector(self) -> numpy.ndarray[tuple[typing.Literal[9], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        """
+        Return all parameters as a vector.
+        """
 class Cal3Fisheye(Cal3):
     def __getstate__(self) -> tuple:
         ...
@@ -976,6 +998,16 @@ class Cal3_S2(Cal3):
         Dcal: optional 2*5 Jacobian wrpt Cal3 parameters
         Dp: optional 2*2 Jacobian wrpt intrinsic coordinates
         
+        Returns: point in intrinsic coordinates
+        """
+    @typing.overload
+    def calibrate(self, p: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        """
+        Convert homogeneous image coordinates to intrinsic coordinates.
+        
+        Args:
+        p: point in image coordinates
+        
         Returns: point in intrinsic coordinates
         """
     def deserialize(self, serialized: str) -> None:
@@ -1024,7 +1056,7 @@ class Cal3_S2(Cal3):
         
         Returns: point in image coordinates
         """
-class Cal3_S2Stereo(Cal3):
+class Cal3_S2Stereo(Cal3_S2):
     @typing.overload
     def __init__(self) -> None:
         ...
@@ -1034,12 +1066,39 @@ class Cal3_S2Stereo(Cal3):
     @typing.overload
     def __init__(self, v: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> None:
         ...
+    @typing.overload
+    def __init__(self, fov: float, w: int, h: int, b: float) -> None:
+        ...
     def __repr__(self, s: str = '') -> str:
         ...
     def baseline(self) -> float:
         """
         return baseline
         """
+    @typing.overload
+    def calibrate(self, p: numpy.ndarray[tuple[typing.Literal[2], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[2], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        """
+        Convert image coordinates uv to intrinsic coordinates xy.
+        
+        Args:
+        p: point in image coordinates
+        Dcal: optional 2*6 Jacobian wrpt Cal3_S2Stereo parameters
+        Dp: optional 2*2 Jacobian wrpt intrinsic coordinates
+        
+        Returns: point in intrinsic coordinates
+        """
+    @typing.overload
+    def calibrate(self, p: numpy.ndarray[tuple[typing.Literal[2], typing.Literal[1]], numpy.dtype[numpy.float64]], Dcal: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], Dp: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[2], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        """
+        Convert image coordinates uv to intrinsic coordinates xy.
+        
+        Args:
+        p: point in image coordinates
+        Dcal: optional 2*6 Jacobian wrpt Cal3_S2Stereo parameters
+        Dp: optional 2*2 Jacobian wrpt intrinsic coordinates
+        
+        Returns: point in intrinsic coordinates
+        """
     def equals(self, other: Cal3_S2Stereo, tol: float) -> bool:
         """
         Check if equal up to specified tolerance.
@@ -1056,6 +1115,28 @@ class Cal3_S2Stereo(Cal3):
         """
         Given 6-dim tangent vector, create new calibration.
         """
+    @typing.overload
+    def uncalibrate(self, p: numpy.ndarray[tuple[typing.Literal[2], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[2], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        """
+        Convert intrinsic coordinates xy to image coordinates uv, fixed derivaitves.
+        
+        Args:
+        p: point in intrinsic coordinates
+        
+        Returns: point in image coordinates
+        """
+    @typing.overload
+    def uncalibrate(self, p: numpy.ndarray[tuple[typing.Literal[2], typing.Literal[1]], numpy.dtype[numpy.float64]], Dcal: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], Dp: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[2], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        """
+        Convert intrinsic coordinates xy to image coordinates uv, fixed derivaitves.
+        
+        Args:
+        p: point in intrinsic coordinates
+        Dcal: optional 2*6 Jacobian wrpt Cal3_S2Stereo parameters
+        Dp: optional 2*2 Jacobian wrpt intrinsic coordinates
+        
+        Returns: point in image coordinates
+        """
     def vector(self) -> numpy.ndarray[tuple[typing.Literal[6], typing.Literal[1]], numpy.dtype[numpy.float64]]:
         """
         vectorized form (column-wise)
@@ -1847,9 +1928,7 @@ class CombinedImuFactor(NoiseModelFactor):
     def evaluateError(self, pose_i: Pose3, vel_i: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], pose_j: Pose3, vel_j: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], bias_i: imuBias.ConstantBias, bias_j: imuBias.ConstantBias) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
     def preintegratedMeasurements(self) -> PreintegratedCombinedMeasurements:
-        """
-        Access the preintegrated measurements.
-        """
+        ...
     def serialize(self) -> str:
         ...
 class ComponentDerivativeFactorChebyshev1Basis(NoiseModelFactor):
@@ -2864,6 +2943,21 @@ class DiscreteMarginals:
         """
     def print(self, s: str = '', keyFormatter: typing.Callable[[int], str] = ...) -> None:
         ...
+class DiscreteScenario(Scenario):
+    @staticmethod
+    def FromCSV(csv_filepath: str) -> DiscreteScenario:
+        """
+        Named constructor to create a scenario from a CSV file.
+        
+        The CSV file should contain a header row followed by data rows. All timestamps will be normalized so that the first timestamp in the file corresponds to t=0 for the scenario. Expected CSV format (16 columns): timestamp,px,py,pz,qw,qx,qy,qz,vx,vy,vz,omegax,omegay,omegaz,ax,ay,az
+        
+        Args:
+        csv_filepath: Path to the CSV file.
+        
+        Returns: A constructed DiscreteScenario.
+        """
+    def __init__(self, poses: dict[float, Pose3], angularVelocities_b: dict[float, numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]], velocities_n: dict[float, numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]], accelerations_n: dict[float, numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]]) -> None:
+        ...
 class DiscreteSearch:
     @staticmethod
     def FromFactorGraph(factorGraph: DiscreteFactorGraph, ordering: Ordering, buildJunctionTree: bool = False) -> DiscreteSearch:
@@ -3390,6 +3484,15 @@ class ExtendedKalmanFilterRot3:
         ...
     def update(self, measurementFactor: NoiseModelFactor) -> Rot3:
         ...
+class ExtendedKalmanFilterSL4:
+    def Density(self) -> JacobianFactor:
+        ...
+    def __init__(self, key_initial: int, x_initial: SL4, P_initial: noiseModel.Gaussian) -> None:
+        ...
+    def predict(self, motionFactor: NoiseModelFactor) -> SL4:
+        ...
+    def update(self, measurementFactor: NoiseModelFactor) -> SL4:
+        ...
 class ExtendedKalmanFilterSimilarity2:
     def Density(self) -> JacobianFactor:
         ...
@@ -3550,6 +3653,15 @@ class FourierBasis:
     @staticmethod
     def WeightMatrix(N: int, x: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]:
         ...
+class FrobeniusBetweenFactorGal3(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, j1: int, j2: int, T12: Gal3) -> None:
+        ...
+    @typing.overload
+    def __init__(self, key1: int, key2: int, T12: Gal3, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: Gal3, T2: Gal3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
 class FrobeniusBetweenFactorPose2(NoiseModelFactor):
     @typing.overload
     def __init__(self, j1: int, j2: int, T12: Pose2) -> None:
@@ -3604,6 +3716,33 @@ class FrobeniusBetweenFactorSO4(NoiseModelFactor):
         ...
     def evaluateError(self, T1: SO4, T2: SO4) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
+class FrobeniusBetweenFactorSimilarity2(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, j1: int, j2: int, T12: Similarity2) -> None:
+        ...
+    @typing.overload
+    def __init__(self, key1: int, key2: int, T12: Similarity2, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: Similarity2, T2: Similarity2) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+class FrobeniusBetweenFactorSimilarity3(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, j1: int, j2: int, T12: Similarity3) -> None:
+        ...
+    @typing.overload
+    def __init__(self, key1: int, key2: int, T12: Similarity3, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: Similarity3, T2: Similarity3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+class FrobeniusFactorGal3(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, key1: int, key2: int) -> None:
+        ...
+    @typing.overload
+    def __init__(self, j1: int, j2: int, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: Gal3, T2: Gal3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
 class FrobeniusFactorPose2(NoiseModelFactor):
     @typing.overload
     def __init__(self, key1: int, key2: int) -> None:
@@ -3658,6 +3797,29 @@ class FrobeniusFactorSO4(NoiseModelFactor):
         ...
     def evaluateError(self, T1: SO4, T2: SO4) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
+class FrobeniusFactorSimilarity2(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, key1: int, key2: int) -> None:
+        ...
+    @typing.overload
+    def __init__(self, j1: int, j2: int, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: Similarity2, T2: Similarity2) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+class FrobeniusFactorSimilarity3(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, key1: int, key2: int) -> None:
+        ...
+    @typing.overload
+    def __init__(self, j1: int, j2: int, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: Similarity3, T2: Similarity3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+class FrobeniusPriorGal3(NoiseModelFactor):
+    def __init__(self, j: int, M: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, g: Gal3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
 class FrobeniusPriorPose2(NoiseModelFactor):
     def __init__(self, j: int, M: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], model: noiseModel.Base) -> None:
         ...
@@ -3688,6 +3850,16 @@ class FrobeniusPriorSO4(NoiseModelFactor):
         ...
     def evaluateError(self, g: SO4) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
+class FrobeniusPriorSimilarity2(NoiseModelFactor):
+    def __init__(self, j: int, M: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, g: Similarity2) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+class FrobeniusPriorSimilarity3(NoiseModelFactor):
+    def __init__(self, j: int, M: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, g: Similarity3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
 class FundamentalMatrix:
     @staticmethod
     def Dim() -> int:
@@ -3891,6 +4063,87 @@ class GPSFactorArmCalib(NonlinearFactor):
         """
     def serialize(self) -> str:
         ...
+class Gal3:
+    @staticmethod
+    def Expmap(xi: numpy.ndarray[tuple[typing.Literal[10], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> Gal3:
+        """
+        Exponential map at identity: tangent vector xi -> manifold element g.
+        """
+    @staticmethod
+    def Identity() -> Gal3:
+        """
+        Return the identity element.
+        """
+    @staticmethod
+    def Logmap(g: Gal3) -> numpy.ndarray[tuple[typing.Literal[10], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        """
+        Logarithmic map at identity: manifold element g -> tangent vector xi.
+        """
+    @typing.overload
+    def __init__(self) -> None:
+        ...
+    @typing.overload
+    def __init__(self, R: Rot3, r: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]], v: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]], t: float) -> None:
+        ...
+    @typing.overload
+    def __init__(self, M: numpy.ndarray[tuple[typing.Literal[5], typing.Literal[5]], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    def __mul__(self, arg0: Gal3) -> Gal3:
+        ...
+    def __repr__(self, s: str = '') -> str:
+        ...
+    def between(self, other: Gal3) -> Gal3:
+        ...
+    def compose(self, other: Gal3) -> Gal3:
+        ...
+    def equals(self, other: Gal3, tol: float) -> bool:
+        """
+        Check equality within tolerance.
+        """
+    def expmap(self, xi: numpy.ndarray[tuple[typing.Literal[10], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> Gal3:
+        ...
+    def inverse(self) -> Gal3:
+        """
+        Return the inverse of this element.
+        """
+    def localCoordinates(self, g: Gal3) -> numpy.ndarray[tuple[typing.Literal[10], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        """
+        localCoordinates as required by manifold concept: finds tangent vector between *this and g
+        """
+    def logmap(self, g: Gal3) -> numpy.ndarray[tuple[typing.Literal[10], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        """
+        logmap as required by manifold concept Applies logarithmic map to group element that takes *this to g
+        """
+    def matrix(self) -> numpy.ndarray[tuple[typing.Literal[5], typing.Literal[5]], numpy.dtype[numpy.float64]]:
+        """
+        Return 5x5 homogeneous matrix representation.
+        """
+    def print(self, s: str = '') -> None:
+        """
+        Print with optional string prefix.
+        """
+    def retract(self, xi: numpy.ndarray[tuple[typing.Literal[10], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> Gal3:
+        ...
+    def rotation(self) -> Rot3:
+        """
+        Access rotation component (Rot3)
+        """
+    def time(self) -> float:
+        """
+        Access time component (double)
+        """
+    def translation(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        """
+        Access translation component (Point3)
+        """
+    def vec(self) -> numpy.ndarray[tuple[typing.Literal[25], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        """
+        Vectorize 5x5 matrix into a 25-dim vector.
+        """
+    def velocity(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        """
+        Access velocity component (Vector3)
+        """
 class GaussNewtonOptimizer(NonlinearOptimizer):
     @typing.overload
     def __init__(self, graph: NonlinearFactorGraph, initialValues: ...) -> None:
@@ -6723,6 +6976,8 @@ class ISAM2:
         ...
     def calculateEstimateRot3(self, key: int) -> Rot3:
         ...
+    def calculateEstimateSL4(self, key: int) -> SL4:
+        ...
     def calculateEstimateSimilarity2(self, key: int) -> Similarity2:
         ...
     def calculateEstimateSimilarity3(self, key: int) -> Similarity3:
@@ -7027,9 +7282,7 @@ class ImuFactor(NonlinearFactor):
     def evaluateError(self, pose_i: Pose3, vel_i: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], pose_j: Pose3, vel_j: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], bias: imuBias.ConstantBias) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
     def preintegratedMeasurements(self) -> PreintegratedImuMeasurements:
-        """
-        Access the preintegrated measurements.
-        """
+        ...
     def serialize(self) -> str:
         ...
 class ImuFactor2(NonlinearFactor):
@@ -7048,9 +7301,7 @@ class ImuFactor2(NonlinearFactor):
     def evaluateError(self, state_i: NavState, state_j: NavState, bias_i: imuBias.ConstantBias) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
     def preintegratedMeasurements(self) -> PreintegratedImuMeasurements:
-        """
-        Access the preintegrated measurements.
-        """
+        ...
     def serialize(self) -> str:
         ...
 class IncrementalFixedLagSmoother(FixedLagSmoother):
@@ -8396,6 +8647,11 @@ class NonlinearEquality2Rot3(NoiseModelFactor):
         ...
     def evaluateError(self, x1: Rot3, x2: Rot3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
+class NonlinearEquality2SL4(NoiseModelFactor):
+    def __init__(self, key1: int, key2: int, mu: float = 10000.0) -> None:
+        ...
+    def evaluateError(self, x1: SL4, x2: SL4) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
 class NonlinearEquality2SO3(NoiseModelFactor):
     def __init__(self, key1: int, key2: int, mu: float = 10000.0) -> None:
         ...
@@ -8621,6 +8877,21 @@ class NonlinearEqualityRot3(NoiseModelFactor):
         ...
     def serialize(self) -> str:
         ...
+class NonlinearEqualitySL4(NoiseModelFactor):
+    def __getstate__(self) -> tuple:
+        ...
+    @typing.overload
+    def __init__(self, j: int, feasible: SL4) -> None:
+        ...
+    @typing.overload
+    def __init__(self, j: int, feasible: SL4, error_gain: float) -> None:
+        ...
+    def __setstate__(self, arg0: tuple) -> None:
+        ...
+    def deserialize(self, serialized: str) -> None:
+        ...
+    def serialize(self) -> str:
+        ...
 class NonlinearEqualitySO3(NoiseModelFactor):
     def __getstate__(self) -> tuple:
         ...
@@ -8817,6 +9088,8 @@ class NonlinearFactorGraph:
         ...
     def addPriorRot3(self, key: int, prior: Rot3, noiseModel: noiseModel.Base) -> None:
         ...
+    def addPriorSL4(self, key: int, prior: SL4, noiseModel: noiseModel.Base) -> None:
+        ...
     def addPriorSO3(self, key: int, prior: SO3, noiseModel: noiseModel.Base) -> None:
         ...
     def addPriorSO4(self, key: int, prior: SO4, noiseModel: noiseModel.Base) -> None:
@@ -10501,7 +10774,9 @@ class Pose2:
         logmap with optional derivatives
         """
     def matrix(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
-        ...
+        """
+        return transformation matrix
+        """
     def print(self, s: str = '') -> None:
         """
         print with optional string
@@ -10760,7 +11035,7 @@ class Pose3:
     @typing.overload
     def inverse(self) -> Pose3:
         """
-        inverse transformation with derivatives
+        inverse transformation
         """
     @typing.overload
     def inverse(self, H: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> Pose3:
@@ -11136,9 +11411,7 @@ class PreintegratedCombinedMeasurements:
     def deserialize(self, serialized: str) -> None:
         ...
     def equals(self, expected: PreintegratedCombinedMeasurements, tol: float) -> bool:
-        """
-        equals
-        """
+        ...
     def integrateMeasurement(self, measuredAcc: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], measuredOmega: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], deltaT: float) -> None:
         ...
     def predict(self, state_i: NavState, bias: imuBias.ConstantBias) -> NavState:
@@ -11148,9 +11421,7 @@ class PreintegratedCombinedMeasurements:
     def print(self, s: str = 'Preintegrated Measurements:') -> None:
         ...
     def resetIntegration(self) -> None:
-        """
-        Re-initializePreintegratedCombinedMeasurements.
-        """
+        ...
     def resetIntegrationAndSetBias(self, biasHat: imuBias.ConstantBias) -> None:
         ...
     def serialize(self) -> str:
@@ -11183,27 +11454,19 @@ class PreintegratedImuMeasurements:
     def deserialize(self, serialized: str) -> None:
         ...
     def equals(self, expected: PreintegratedImuMeasurements, tol: float) -> bool:
-        """
-        equals
-        """
+        ...
     def integrateMeasurement(self, measuredAcc: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], measuredOmega: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], deltaT: float) -> None:
         ...
     def predict(self, state_i: NavState, bias: imuBias.ConstantBias) -> NavState:
         ...
     def preintMeasCov(self) -> numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]:
-        """
-        Return pre-integrated measurement covariance.
-        """
+        ...
     def preintegrated(self) -> numpy.ndarray[tuple[typing.Literal[9], typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
     def print(self, s: str = '') -> None:
-        """
-        print
-        """
+        ...
     def resetIntegration(self) -> None:
-        """
-        Re-initializePreintegratedImuMeasurements.
-        """
+        ...
     def resetIntegrationAndSetBias(self, biasHat: imuBias.ConstantBias) -> None:
         ...
     def serialize(self) -> str:
@@ -11315,8 +11578,6 @@ class PreintegrationCombinedParams(PreintegrationParams):
         ...
     def getBiasAccCovariance(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
         ...
-    def getBiasAccOmegaInit(self) -> numpy.ndarray[tuple[typing.Literal[6], typing.Literal[6]], numpy.dtype[numpy.float64]]:
-        ...
     def getBiasOmegaCovariance(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
         ...
     def print(self, s: str = '') -> None:
@@ -11325,8 +11586,6 @@ class PreintegrationCombinedParams(PreintegrationParams):
         ...
     def setBiasAccCovariance(self, cov: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
         ...
-    def setBiasAccOmegaInit(self, cov: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
-        ...
     def setBiasOmegaCovariance(self, cov: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
         ...
 class PreintegrationParams(PreintegratedRotationParams):
@@ -11622,6 +11881,19 @@ class PriorFactorRot3(NoiseModelFactor):
         ...
     def serialize(self) -> str:
         ...
+class PriorFactorSL4(NoiseModelFactor):
+    def __getstate__(self) -> tuple:
+        ...
+    def __init__(self, key: int, prior: SL4, noiseModel: noiseModel.Base) -> None:
+        ...
+    def __setstate__(self, arg0: tuple) -> None:
+        ...
+    def deserialize(self, serialized: str) -> None:
+        ...
+    def prior(self) -> SL4:
+        ...
+    def serialize(self) -> str:
+        ...
 class PriorFactorSO3(NoiseModelFactor):
     def __getstate__(self) -> tuple:
         ...
@@ -12397,6 +12669,86 @@ class RotateFactor(NoiseModelFactor):
         """
         print
         """
+class SL4:
+    @staticmethod
+    def Expmap(v: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> SL4:
+        ...
+    @staticmethod
+    def Hat(xi: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[4], typing.Literal[4]], numpy.dtype[numpy.float64]]:
+        ...
+    @staticmethod
+    def Identity() -> SL4:
+        """
+        identity for group operation
+        """
+    @staticmethod
+    def Logmap(g: SL4) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+    @staticmethod
+    def Vee(X: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+    def __getstate__(self) -> tuple:
+        ...
+    @typing.overload
+    def __init__(self) -> None:
+        ...
+    @typing.overload
+    def __init__(self, T: numpy.ndarray[tuple[typing.Literal[4], typing.Literal[4]], numpy.dtype[numpy.float64]]) -> None:
+        ...
+    def __mul__(self, arg0: SL4) -> SL4:
+        ...
+    def __repr__(self, s: str = '') -> str:
+        ...
+    def __setstate__(self, arg0: tuple) -> None:
+        ...
+    @typing.overload
+    def between(self, sl4: SL4) -> SL4:
+        ...
+    @typing.overload
+    def between(self, sl4: SL4, H1: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], H2: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> SL4:
+        ...
+    @typing.overload
+    def compose(self, sl4: SL4) -> SL4:
+        ...
+    @typing.overload
+    def compose(self, sl4: SL4, H1: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], H2: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> SL4:
+        ...
+    def deserialize(self, serialized: str) -> None:
+        ...
+    def equals(self, sl4: SL4, tol: float) -> bool:
+        """
+        assert equality up to a tolerance
+        """
+    def expmap(self, v: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> SL4:
+        """
+        expmap as required by manifold concept Applies exponential map to v and composes with *this
+        """
+    @typing.overload
+    def inverse(self) -> SL4:
+        """
+        inverse transformation
+        """
+    @typing.overload
+    def inverse(self, H: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> SL4:
+        ...
+    def localCoordinates(self, g: SL4, Horigin: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], Hp2: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[15], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+    def logmap(self, g: SL4) -> numpy.ndarray[tuple[typing.Literal[15], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        """
+        logmap as required by manifold concept Applies logarithmic map to group element that takes *this to g
+        """
+    def matrix(self) -> numpy.ndarray[tuple[typing.Literal[4], typing.Literal[4]], numpy.dtype[numpy.float64]]:
+        """
+        convert to 4*4 matrix
+        """
+    def print(self, s: str = '') -> None:
+        """
+        print with optional string
+        """
+    def retract(self, v: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], Horigin: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], Hv: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> SL4:
+        ...
+    def serialize(self) -> str:
+        ...
 class SO3:
     @staticmethod
     def AxisAngle(axis: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], theta: float) -> SO3:
@@ -13159,6 +13511,11 @@ class Similarity2:
         Each pair is of the form (aTi, bTi). Given a list of pairs in frame a, and a list of pairs in frame b, Align() will compute the best-fit Similarity2 aSb transformation to align them. First, the rotation aRb will be computed as the average (Karcher mean) of many estimates aRb (from each pair). Afterwards, the scale factor will be computed using the algorithm described here: http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2005/Zinsser05-PSR.pdf
         """
     @staticmethod
+    def Dim() -> int:
+        """
+        Dimensionality of tangent space = 4 DOF - used to autodetect sizes.
+        """
+    @staticmethod
     def Expmap(v: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> Similarity2:
         """
         Exponential map at the identity.
@@ -13169,6 +13526,11 @@ class Similarity2:
         Hat maps from tangent vector to Lie algebra.
         """
     @staticmethod
+    def Identity() -> Similarity2:
+        """
+        Return an identity transform.
+        """
+    @staticmethod
     def Logmap(S: Similarity2) -> numpy.ndarray[tuple[typing.Literal[4], typing.Literal[1]], numpy.dtype[numpy.float64]]:
         """
         Log map at the identity$ [t_x, t_y, \\delta, \\lambda] $.
@@ -13193,8 +13555,18 @@ class Similarity2:
     @typing.overload
     def __init__(self, T: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
         ...
+    def __mul__(self, arg0: Similarity2) -> Similarity2:
+        ...
     def __repr__(self, s: str = '') -> str:
         ...
+    def between(self, other: Similarity2) -> Similarity2:
+        ...
+    def compose(self, other: Similarity2) -> Similarity2:
+        ...
+    def dim(self) -> int:
+        """
+        Dimensionality of tangent space = 4 DOF.
+        """
     def equals(self, sim: Similarity2, tol: float) -> bool:
         """
         Compare with tolerance.
@@ -13203,18 +13575,28 @@ class Similarity2:
         """
         expmap as required by manifold concept Applies exponential map to v and composes with *this
         """
+    def inverse(self) -> Similarity2:
+        """
+        Return the inverse.
+        """
+    def localCoordinates(self, t2: Similarity2) -> numpy.ndarray[tuple[typing.Literal[4], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
     def logmap(self, g: Similarity2) -> numpy.ndarray[tuple[typing.Literal[4], typing.Literal[1]], numpy.dtype[numpy.float64]]:
         """
         logmap as required by manifold concept Applies logarithmic map to group element that takes *this to g
         """
     def matrix(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
         """
-        Calculate 4*4 matrix group equivalent.
+        Calculate 3*3 matrix group equivalent.
         """
     def print(self, s: str = '') -> None:
         """
         Print with optional string.
         """
+    def retract(self, v: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> Similarity2:
+        """
+        retract as required by manifold concept: applies v at *this
+        """
     def rotation(self) -> Rot2:
         """
         Return a GTSAM rotation.
@@ -13255,6 +13637,11 @@ class Similarity3:
         Each pair is of the form (aTi, bTi). Given a list of pairs in frame a, and a list of pairs in frame b, Align() will compute the best-fit Similarity3 aSb transformation to align them. First, the rotation aRb will be computed as the average (Karcher mean) of many estimates aRb (from each pair). Afterwards, the scale factor will be computed using the algorithm described here: http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2005/Zinsser05-PSR.pdf
         """
     @staticmethod
+    def Dim() -> int:
+        """
+        Dimensionality of tangent space = 7 DOF - used to autodetect sizes.
+        """
+    @staticmethod
     def Expmap(v: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> Similarity3:
         """
         Exponential map at the identity.
@@ -13270,6 +13657,11 @@ class Similarity3:
         Returns: 4*4 element of Lie algebra that can be exponentiated
         """
     @staticmethod
+    def Identity() -> Similarity3:
+        """
+        Return an identity transform.
+        """
+    @staticmethod
     def Logmap(s: Similarity3) -> numpy.ndarray[tuple[typing.Literal[7], typing.Literal[1]], numpy.dtype[numpy.float64]]:
         """
         Log map at the identity$ [R_x,R_y,R_z, t_x, t_y, t_z, \\lambda] $.
@@ -13294,8 +13686,18 @@ class Similarity3:
     @typing.overload
     def __init__(self, T: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> None:
         ...
+    def __mul__(self, arg0: Similarity3) -> Similarity3:
+        ...
     def __repr__(self, s: str = '') -> str:
         ...
+    def between(self, other: Similarity3) -> Similarity3:
+        ...
+    def compose(self, other: Similarity3) -> Similarity3:
+        ...
+    def dim(self) -> int:
+        """
+        Dimensionality of tangent space = 7 DOF.
+        """
     def equals(self, sim: Similarity3, tol: float) -> bool:
         """
         Compare with tolerance.
@@ -13304,6 +13706,12 @@ class Similarity3:
         """
         expmap as required by manifold concept Applies exponential map to v and composes with *this
         """
+    def inverse(self) -> Similarity3:
+        """
+        Return the inverse.
+        """
+    def localCoordinates(self, t2: Similarity3) -> numpy.ndarray[tuple[typing.Literal[7], typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
     def logmap(self, g: Similarity3) -> numpy.ndarray[tuple[typing.Literal[7], typing.Literal[1]], numpy.dtype[numpy.float64]]:
         """
         logmap as required by manifold concept Applies logarithmic map to group element that takes *this to g
@@ -13316,6 +13724,10 @@ class Similarity3:
         """
         Print with optional string.
         """
+    def retract(self, v: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> Similarity3:
+        """
+        retract as required by manifold concept: applies v at *this
+        """
     def rotation(self) -> Rot3:
         """
         Return a GTSAM rotation.
@@ -15671,6 +16083,8 @@ class Values:
         ...
     def atRot3(self, j: int) -> Rot3:
         ...
+    def atSL4(self, j: int) -> SL4:
+        ...
     def atSO3(self, j: int) -> SO3:
         ...
     def atSO4(self, j: int) -> SO4:
@@ -15748,6 +16162,9 @@ class Values:
     def insert(self, j: int, P: SOn) -> None:
         ...
     @typing.overload
+    def insert(self, j: int, H: SL4) -> None:
+        ...
+    @typing.overload
     def insert(self, j: int, rot3: Rot3) -> None:
         ...
     @typing.overload
@@ -15876,6 +16293,9 @@ class Values:
     def insert_or_assign(self, j: int, P: SOn) -> None:
         ...
     @typing.overload
+    def insert_or_assign(self, j: int, H: SL4) -> None:
+        ...
+    @typing.overload
     def insert_or_assign(self, j: int, rot3: Rot3) -> None:
         ...
     @typing.overload
@@ -16024,6 +16444,9 @@ class Values:
     def update(self, j: int, P: SOn) -> None:
         ...
     @typing.overload
+    def update(self, j: int, H: SL4) -> None:
+        ...
+    @typing.overload
     def update(self, j: int, rot3: Rot3) -> None:
         ...
     @typing.overload