gtsam-develop 4.3a0.dev202507301459__cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.whl → 4.3a0.dev202508021458__cp312-cp312-manylinux2014_aarch64.manylinux_2_17_aarch64.whl

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Files changed (10) hide show
  1. gtsam/__init__.pyi +21 -15
  2. gtsam/gtsam/__init__.pyi +309 -35
  3. gtsam/gtsam.cpython-312-aarch64-linux-gnu.so +0 -0
  4. {gtsam_develop-4.3a0.dev202507301459.dist-info → gtsam_develop-4.3a0.dev202508021458.dist-info}/METADATA +3 -3
  5. {gtsam_develop-4.3a0.dev202507301459.dist-info → gtsam_develop-4.3a0.dev202508021458.dist-info}/RECORD +10 -10
  6. gtsam_develop.libs/{libgtsam-36a678e0.so.4.3a0.dev202507301459 → libgtsam-4bfd36cd.so.4.3a0.dev202508021458} +0 -0
  7. gtsam_develop.libs/{libgtsam_unstable-93bbce1b.so.4.3a0.dev202507301459 → libgtsam_unstable-c4df60a2.so.4.3a0.dev202508021458} +0 -0
  8. gtsam_unstable/gtsam_unstable.cpython-312-aarch64-linux-gnu.so +0 -0
  9. {gtsam_develop-4.3a0.dev202507301459.dist-info → gtsam_develop-4.3a0.dev202508021458.dist-info}/WHEEL +0 -0
  10. {gtsam_develop-4.3a0.dev202507301459.dist-info → gtsam_develop-4.3a0.dev202508021458.dist-info}/top_level.txt +0 -0
gtsam/__init__.pyi CHANGED
@@ -5,25 +5,25 @@ from __future__ import annotations
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  from builtins import dict as IndexPairSetMap
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  from builtins import dict as KeyPairDoubleMap
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  from builtins import dict as MatchIndicesMap
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- from builtins import list as SfmTracks
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- from builtins import list as BinaryMeasurementsPoint3
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- from builtins import list as KeypointsVector
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- from builtins import list as SfmTrack2dVector
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- from builtins import list as Pose3Vector
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+ from builtins import list as Point2Vector
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+ from builtins import list as Rot3Vector
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+ from builtins import list as Pose3Pairs
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  from builtins import list as SfmMeasurementVector
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- from builtins import list as Pose2Pairs
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- from builtins import list as Point2Pairs
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- from builtins import list as BinaryMeasurementsRot3
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  from builtins import list as BetweenFactorPose3s
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- from builtins import list as KeyVector
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  from builtins import list as BetweenFactorPose2s
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- from builtins import list as Point2Vector
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+ from builtins import list as Point2Pairs
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+ from builtins import list as KeyVector
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+ from builtins import list as SfmCameras
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  from builtins import list as BinaryMeasurementsUnit3
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- from builtins import list as Pose3Pairs
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- from builtins import list as Rot3Vector
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- from builtins import list as IndexPairVector
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+ from builtins import list as Pose3Vector
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+ from builtins import list as SfmTracks
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+ from builtins import list as BinaryMeasurementsPoint3
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  from builtins import list as Point3Pairs
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- from builtins import list as SfmCameras
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+ from builtins import list as BinaryMeasurementsRot3
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+ from builtins import list as SfmTrack2dVector
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+ from builtins import list as Pose2Pairs
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+ from builtins import list as KeypointsVector
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+ from builtins import list as IndexPairVector
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  from gtsam.gtsam import AHRSFactor
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  from gtsam.gtsam import AcceleratingScenario
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  from gtsam.gtsam import AlgebraicDecisionTreeKey
@@ -49,6 +49,7 @@ from gtsam.gtsam import BetweenFactorPose2
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  from gtsam.gtsam import BetweenFactorPose3
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  from gtsam.gtsam import BetweenFactorRot2
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  from gtsam.gtsam import BetweenFactorRot3
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+ from gtsam.gtsam import BetweenFactorSL4
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  from gtsam.gtsam import BetweenFactorSO3
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  from gtsam.gtsam import BetweenFactorSO4
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  from gtsam.gtsam import BetweenFactorSimilarity2
@@ -157,6 +158,7 @@ from gtsam.gtsam import ExtendedKalmanFilterPose2
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  from gtsam.gtsam import ExtendedKalmanFilterPose3
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  from gtsam.gtsam import ExtendedKalmanFilterRot2
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  from gtsam.gtsam import ExtendedKalmanFilterRot3
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+ from gtsam.gtsam import ExtendedKalmanFilterSL4
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  from gtsam.gtsam import ExtendedKalmanFilterSimilarity2
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  from gtsam.gtsam import ExtendedKalmanFilterSimilarity3
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  from gtsam.gtsam import Factor
@@ -355,6 +357,7 @@ from gtsam.gtsam import NonlinearEquality2Pose2
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  from gtsam.gtsam import NonlinearEquality2Pose3
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  from gtsam.gtsam import NonlinearEquality2Rot2
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  from gtsam.gtsam import NonlinearEquality2Rot3
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+ from gtsam.gtsam import NonlinearEquality2SL4
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  from gtsam.gtsam import NonlinearEquality2SO3
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  from gtsam.gtsam import NonlinearEquality2SO4
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  from gtsam.gtsam import NonlinearEquality2SOn
@@ -374,6 +377,7 @@ from gtsam.gtsam import NonlinearEqualityPose2
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  from gtsam.gtsam import NonlinearEqualityPose3
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  from gtsam.gtsam import NonlinearEqualityRot2
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  from gtsam.gtsam import NonlinearEqualityRot3
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+ from gtsam.gtsam import NonlinearEqualitySL4
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  from gtsam.gtsam import NonlinearEqualitySO3
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  from gtsam.gtsam import NonlinearEqualitySO4
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  from gtsam.gtsam import NonlinearEqualitySOn
@@ -442,6 +446,7 @@ from gtsam.gtsam import PriorFactorPose2
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  from gtsam.gtsam import PriorFactorPose3
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  from gtsam.gtsam import PriorFactorRot2
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  from gtsam.gtsam import PriorFactorRot3
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+ from gtsam.gtsam import PriorFactorSL4
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  from gtsam.gtsam import PriorFactorSO3
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  from gtsam.gtsam import PriorFactorSO4
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  from gtsam.gtsam import PriorFactorSOn
@@ -472,6 +477,7 @@ from gtsam.gtsam import Rot3
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  from gtsam.gtsam import Rot3AttitudeFactor
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  from gtsam.gtsam import RotateDirectionsFactor
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  from gtsam.gtsam import RotateFactor
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+ from gtsam.gtsam import SL4
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  from gtsam.gtsam import SO3
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  from gtsam.gtsam import SO4
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  from gtsam.gtsam import SOn
@@ -607,7 +613,7 @@ from gtsam.utils import findExampleDataFile
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  import sys as sys
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  from . import gtsam
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  from . import utils
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- __all__ = ['AHRSFactor', 'AcceleratingScenario', 'AlgebraicDecisionTreeKey', 'AssignmentKey', 'BarometricFactor', 'BatchFixedLagSmoother', 'BearingFactor2D', 'BearingFactor3D', 'BearingFactorPose2', 'BearingRange2D', 'BearingRange3D', 'BearingRangeFactor2D', 'BearingRangeFactor3D', 'BearingRangeFactorPose2', 'BearingRangeFactorPose3', 'BearingRangePose2', 'BearingRangePose3', 'BetweenFactorConstantBias', 'BetweenFactorDouble', 'BetweenFactorPoint2', 'BetweenFactorPoint3', 'BetweenFactorPose2', 'BetweenFactorPose2s', 'BetweenFactorPose3', 'BetweenFactorPose3s', 'BetweenFactorRot2', 'BetweenFactorRot3', 'BetweenFactorSO3', 'BetweenFactorSO4', 'BetweenFactorSimilarity2', 'BetweenFactorSimilarity3', 'BetweenFactorVector', 'BinaryMeasurementPoint3', 'BinaryMeasurementRot3', 'BinaryMeasurementUnit3', 'BinaryMeasurementsPoint3', 'BinaryMeasurementsRot3', 'BinaryMeasurementsUnit3', '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', 'ExtendedKalmanFilterSimilarity2', 'ExtendedKalmanFilterSimilarity3', 'Factor', 'FindKarcherMeanPoint2', 'FindKarcherMeanPoint3', 'FindKarcherMeanPose2', 'FindKarcherMeanPose3', 'FindKarcherMeanRot2', 'FindKarcherMeanRot3', 'FindKarcherMeanSO3', 'FindKarcherMeanSO4', 'FitBasisChebyshev1Basis', 'FitBasisChebyshev2', 'FitBasisChebyshev2Basis', 'FitBasisFourierBasis', 'FixedLagSmoother', 'FixedLagSmootherKeyTimestampMap', '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', 'IndexPairSetMap', 'IndexPairVector', 'InitializePose3', 'ItemsView', 'IterativeOptimizationParameters', 'JacobianFactor', 'JacobianVector', 'JointMarginal', 'KalmanFilter', 'KarcherMeanFactorPoint2', 'KarcherMeanFactorPoint3', 'KarcherMeanFactorPose2', 'KarcherMeanFactorPose3', 'KarcherMeanFactorRot2', 'KarcherMeanFactorRot3', 'KarcherMeanFactorSO3', 'KarcherMeanFactorSO4', 'KernelFunctionType', 'KeyGroupMap', 'KeyList', 'KeyPairDoubleMap', 'KeySet', 'KeyVector', 'KeypointsVector', 'KeysView', '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', 'MatchIndicesMap', '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', 'Point2', 'Point2Pairs', 'Point2Vector', 'Point3', 'Point3Pairs', 'Pose2', 'Pose2Pairs', 'Pose3', 'Pose3AttitudeFactor', 'Pose3Pairs', 'Pose3Vector', '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', 'Rot3Vector', 'RotateDirectionsFactor', 'RotateFactor', 'SO3', 'SO4', 'SOn', 'Sampler', 'Scenario', 'ScenarioRunner', 'SfmCameras', 'SfmData', 'SfmMeasurementVector', 'SfmTrack', 'SfmTrack2d', 'SfmTrack2dVector', 'SfmTracks', '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', 'ValuesView', 'VariableIndex', 'VectorComponentFactorChebyshev1Basis', 'VectorComponentFactorChebyshev2', 'VectorComponentFactorChebyshev2Basis', 'VectorComponentFactorFourierBasis', 'VectorDerivativeFactorChebyshev1Basis', 'VectorDerivativeFactorChebyshev2', 'VectorDerivativeFactorChebyshev2Basis', 'VectorDerivativeFactorFourierBasis', 'VectorEvaluationFactorChebyshev1Basis', 'VectorEvaluationFactorChebyshev2', 'VectorEvaluationFactorChebyshev2Basis', 'VectorEvaluationFactorFourierBasis', 'VectorValues', 'cartesianProduct', 'checkConvergence', 'findExampleDataFile', 'gtsam', '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', 'sys', 'triangulateNonlinear', 'triangulatePoint3', 'triangulateSafe', 'utilities', 'utils', 'writeBAL', 'writeG2o']
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+ __all__ = ['AHRSFactor', 'AcceleratingScenario', 'AlgebraicDecisionTreeKey', 'AssignmentKey', 'BarometricFactor', 'BatchFixedLagSmoother', 'BearingFactor2D', 'BearingFactor3D', 'BearingFactorPose2', 'BearingRange2D', 'BearingRange3D', 'BearingRangeFactor2D', 'BearingRangeFactor3D', 'BearingRangeFactorPose2', 'BearingRangeFactorPose3', 'BearingRangePose2', 'BearingRangePose3', 'BetweenFactorConstantBias', 'BetweenFactorDouble', 'BetweenFactorPoint2', 'BetweenFactorPoint3', 'BetweenFactorPose2', 'BetweenFactorPose2s', 'BetweenFactorPose3', 'BetweenFactorPose3s', 'BetweenFactorRot2', 'BetweenFactorRot3', 'BetweenFactorSL4', 'BetweenFactorSO3', 'BetweenFactorSO4', 'BetweenFactorSimilarity2', 'BetweenFactorSimilarity3', 'BetweenFactorVector', 'BinaryMeasurementPoint3', 'BinaryMeasurementRot3', 'BinaryMeasurementUnit3', 'BinaryMeasurementsPoint3', 'BinaryMeasurementsRot3', 'BinaryMeasurementsUnit3', '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', 'FixedLagSmootherKeyTimestampMap', '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', 'IndexPairSetMap', 'IndexPairVector', 'InitializePose3', 'ItemsView', 'IterativeOptimizationParameters', 'JacobianFactor', 'JacobianVector', 'JointMarginal', 'KalmanFilter', 'KarcherMeanFactorPoint2', 'KarcherMeanFactorPoint3', 'KarcherMeanFactorPose2', 'KarcherMeanFactorPose3', 'KarcherMeanFactorRot2', 'KarcherMeanFactorRot3', 'KarcherMeanFactorSO3', 'KarcherMeanFactorSO4', 'KernelFunctionType', 'KeyGroupMap', 'KeyList', 'KeyPairDoubleMap', 'KeySet', 'KeyVector', 'KeypointsVector', 'KeysView', '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', 'MatchIndicesMap', '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', 'Point2', 'Point2Pairs', 'Point2Vector', 'Point3', 'Point3Pairs', 'Pose2', 'Pose2Pairs', 'Pose3', 'Pose3AttitudeFactor', 'Pose3Pairs', 'Pose3Vector', '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', 'Rot3Vector', 'RotateDirectionsFactor', 'RotateFactor', 'SL4', 'SO3', 'SO4', 'SOn', 'Sampler', 'Scenario', 'ScenarioRunner', 'SfmCameras', 'SfmData', 'SfmMeasurementVector', 'SfmTrack', 'SfmTrack2d', 'SfmTrack2dVector', 'SfmTracks', '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', 'ValuesView', 'VariableIndex', 'VectorComponentFactorChebyshev1Basis', 'VectorComponentFactorChebyshev2', 'VectorComponentFactorChebyshev2Basis', 'VectorComponentFactorFourierBasis', 'VectorDerivativeFactorChebyshev1Basis', 'VectorDerivativeFactorChebyshev2', 'VectorDerivativeFactorChebyshev2Basis', 'VectorDerivativeFactorFourierBasis', 'VectorEvaluationFactorChebyshev1Basis', 'VectorEvaluationFactorChebyshev2', 'VectorEvaluationFactorChebyshev2Basis', 'VectorEvaluationFactorFourierBasis', 'VectorValues', 'cartesianProduct', 'checkConvergence', 'findExampleDataFile', 'gtsam', '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', 'sys', 'triangulateNonlinear', 'triangulatePoint3', 'triangulateSafe', 'utilities', 'utils', 'writeBAL', 'writeG2o']
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  class FixedLagSmootherKeyTimestampMap(dict):
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  """
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619
  Class to provide backwards compatibility
gtsam/gtsam/__init__.pyi CHANGED
@@ -11,7 +11,7 @@ from . import noiseModel
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11
  from . import so3
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12
  from . import symbol_shorthand
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  from . import utilities
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- __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', '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', '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', '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']
14
+ __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']
15
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  class AHRSFactor(NonlinearFactor):
16
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  def __getstate__(self) -> tuple:
17
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  ...
@@ -144,6 +144,8 @@ class BatchFixedLagSmoother(FixedLagSmoother):
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  ...
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  def calculateEstimateRot3(self, key: int) -> Rot3:
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  ...
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+ def calculateEstimateSL4(self, key: int) -> SL4:
148
+ ...
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  def calculateEstimateSimilarity2(self, key: int) -> Similarity2:
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  ...
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  def calculateEstimateSimilarity3(self, key: int) -> Similarity3:
@@ -435,6 +437,19 @@ class BetweenFactorRot3(NoiseModelFactor):
435
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  ...
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  def serialize(self) -> str:
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  ...
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+ class BetweenFactorSL4(NoiseModelFactor):
441
+ def __getstate__(self) -> tuple:
442
+ ...
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+ def __init__(self, key1: int, key2: int, relativePose: SL4, noiseModel: noiseModel.Base) -> None:
444
+ ...
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+ def __setstate__(self, arg0: tuple) -> None:
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+ ...
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+ def deserialize(self, serialized: str) -> None:
448
+ ...
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+ def measured(self) -> SL4:
450
+ ...
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+ def serialize(self) -> str:
452
+ ...
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  class BetweenFactorSO3(NoiseModelFactor):
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  def __getstate__(self) -> tuple:
440
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  ...
@@ -597,6 +612,11 @@ class Cal3:
597
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  vectorized form (column-wise)
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  """
599
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  class Cal3Bundler(Cal3f):
615
+ @staticmethod
616
+ def Dim() -> int:
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+ """
618
+ Return DOF, dimensionality of tangent space.
619
+ """
600
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  def __getstate__(self) -> tuple:
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  ...
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  @typing.overload
@@ -614,6 +634,10 @@ class Cal3Bundler(Cal3f):
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  ...
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  def deserialize(self, serialized: str) -> None:
616
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  ...
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+ def dim(self) -> int:
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+ """
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+ Return DOF, dimensionality of tangent space.
640
+ """
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  def equals(self, K: Cal3Bundler, tol: float) -> bool:
618
642
  """
619
643
  assert equality up to a tolerance
@@ -644,7 +668,7 @@ class Cal3DS2(Cal3DS2_Base):
644
668
  @staticmethod
645
669
  def Dim() -> int:
646
670
  """
647
- Return dimensions of calibration manifold object.
671
+ return DOF, dimensionality of tangent space
648
672
  """
649
673
  def __getstate__(self) -> tuple:
650
674
  ...
@@ -666,7 +690,7 @@ class Cal3DS2(Cal3DS2_Base):
666
690
  ...
667
691
  def dim(self) -> int:
668
692
  """
669
- Return dimensions of calibration manifold object.
693
+ return DOF, dimensionality of tangent space
670
694
  """
671
695
  def equals(self, K: Cal3DS2, tol: float) -> bool:
672
696
  """
@@ -756,6 +780,11 @@ class Cal3DS2_Base(Cal3):
756
780
  Return all parameters as a vector.
757
781
  """
758
782
  class Cal3Fisheye(Cal3):
783
+ @staticmethod
784
+ def Dim() -> int:
785
+ """
786
+ Return dimensions of calibration manifold object.
787
+ """
759
788
  def __getstate__(self) -> tuple:
760
789
  ...
761
790
  @typing.overload
@@ -795,6 +824,10 @@ class Cal3Fisheye(Cal3):
795
824
  """
796
825
  def deserialize(self, serialized: str) -> None:
797
826
  ...
827
+ def dim(self) -> int:
828
+ """
829
+ Return dimensions of calibration manifold object.
830
+ """
798
831
  def equals(self, K: Cal3Fisheye, tol: float) -> bool:
799
832
  """
800
833
  assert equality up to a tolerance
@@ -1042,6 +1075,11 @@ class Cal3_S2(Cal3):
1042
1075
  Returns: point in image coordinates
1043
1076
  """
1044
1077
  class Cal3_S2Stereo(Cal3_S2):
1078
+ @staticmethod
1079
+ def Dim() -> int:
1080
+ """
1081
+ return DOF, dimensionality of tangent space
1082
+ """
1045
1083
  @typing.overload
1046
1084
  def __init__(self) -> None:
1047
1085
  ...
@@ -1084,6 +1122,10 @@ class Cal3_S2Stereo(Cal3_S2):
1084
1122
 
1085
1123
  Returns: point in intrinsic coordinates
1086
1124
  """
1125
+ def dim(self) -> int:
1126
+ """
1127
+ return DOF, dimensionality of tangent space
1128
+ """
1087
1129
  def equals(self, other: Cal3_S2Stereo, tol: float) -> bool:
1088
1130
  """
1089
1131
  Check if equal up to specified tolerance.
@@ -1127,6 +1169,11 @@ class Cal3_S2Stereo(Cal3_S2):
1127
1169
  vectorized form (column-wise)
1128
1170
  """
1129
1171
  class Cal3f(Cal3):
1172
+ @staticmethod
1173
+ def Dim() -> int:
1174
+ """
1175
+ Return DOF, dimensionality of tangent space.
1176
+ """
1130
1177
  def __getstate__(self) -> tuple:
1131
1178
  ...
1132
1179
  @typing.overload
@@ -1163,6 +1210,10 @@ class Cal3f(Cal3):
1163
1210
  """
1164
1211
  def deserialize(self, serialized: str) -> None:
1165
1212
  ...
1213
+ def dim(self) -> int:
1214
+ """
1215
+ Return DOF, dimensionality of tangent space.
1216
+ """
1166
1217
  def equals(self, K: Cal3f, tol: float) -> bool:
1167
1218
  """
1168
1219
  assert equality up to a tolerance
@@ -1210,9 +1261,7 @@ class Cal3f(Cal3):
1210
1261
  class CalibratedCamera:
1211
1262
  @staticmethod
1212
1263
  def Dim() -> int:
1213
- """
1214
- Deprecated
1215
- """
1264
+ ...
1216
1265
  @staticmethod
1217
1266
  def Level(pose2: Pose2, height: float) -> CalibratedCamera:
1218
1267
  """
@@ -1251,9 +1300,7 @@ class CalibratedCamera:
1251
1300
  def deserialize(self, serialized: str) -> None:
1252
1301
  ...
1253
1302
  def dim(self) -> int:
1254
- """
1255
- Deprecated
1256
- """
1303
+ ...
1257
1304
  def equals(self, camera: CalibratedCamera, tol: float) -> bool:
1258
1305
  """
1259
1306
  assert equality up to a tolerance
@@ -3468,6 +3515,15 @@ class ExtendedKalmanFilterRot3:
3468
3515
  ...
3469
3516
  def update(self, measurementFactor: NoiseModelFactor) -> Rot3:
3470
3517
  ...
3518
+ class ExtendedKalmanFilterSL4:
3519
+ def Density(self) -> JacobianFactor:
3520
+ ...
3521
+ def __init__(self, key_initial: int, x_initial: SL4, P_initial: noiseModel.Gaussian) -> None:
3522
+ ...
3523
+ def predict(self, motionFactor: NoiseModelFactor) -> SL4:
3524
+ ...
3525
+ def update(self, measurementFactor: NoiseModelFactor) -> SL4:
3526
+ ...
3471
3527
  class ExtendedKalmanFilterSimilarity2:
3472
3528
  def Density(self) -> JacobianFactor:
3473
3529
  ...
@@ -4040,11 +4096,21 @@ class GPSFactorArmCalib(NonlinearFactor):
4040
4096
  ...
4041
4097
  class Gal3:
4042
4098
  @staticmethod
4099
+ def Dim() -> int:
4100
+ """
4101
+ Static method to get the dimension (compile-time or dynamic)
4102
+ """
4103
+ @staticmethod
4043
4104
  def Expmap(xi: numpy.ndarray[tuple[typing.Literal[10], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> Gal3:
4044
4105
  """
4045
4106
  Exponential map at identity: tangent vector xi -> manifold element g.
4046
4107
  """
4047
4108
  @staticmethod
4109
+ def Hat(xi: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[5], typing.Literal[5]], numpy.dtype[numpy.float64]]:
4110
+ """
4111
+ Hat operator: maps tangent vector xi to Lie algebra matrix.
4112
+ """
4113
+ @staticmethod
4048
4114
  def Identity() -> Gal3:
4049
4115
  """
4050
4116
  Return the identity element.
@@ -4054,6 +4120,11 @@ class Gal3:
4054
4120
  """
4055
4121
  Logarithmic map at identity: manifold element g -> tangent vector xi.
4056
4122
  """
4123
+ @staticmethod
4124
+ def Vee(X: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[10], typing.Literal[1]], numpy.dtype[numpy.float64]]:
4125
+ """
4126
+ Vee operator: maps Lie algebra matrix to tangent vector xi.
4127
+ """
4057
4128
  @typing.overload
4058
4129
  def __init__(self) -> None:
4059
4130
  ...
@@ -4071,6 +4142,10 @@ class Gal3:
4071
4142
  ...
4072
4143
  def compose(self, other: Gal3) -> Gal3:
4073
4144
  ...
4145
+ def dim(self) -> int:
4146
+ """
4147
+ Provided fixed dimension indim()if needed.
4148
+ """
4074
4149
  def equals(self, other: Gal3, tol: float) -> bool:
4075
4150
  """
4076
4151
  Check equality within tolerance.
@@ -6926,6 +7001,8 @@ class ISAM2:
6926
7001
  ...
6927
7002
  def calculateEstimateRot3(self, key: int) -> Rot3:
6928
7003
  ...
7004
+ def calculateEstimateSL4(self, key: int) -> SL4:
7005
+ ...
6929
7006
  def calculateEstimateSimilarity2(self, key: int) -> Similarity2:
6930
7007
  ...
6931
7008
  def calculateEstimateSimilarity3(self, key: int) -> Similarity3:
@@ -8591,6 +8668,11 @@ class NonlinearEquality2Rot3(NoiseModelFactor):
8591
8668
  ...
8592
8669
  def evaluateError(self, x1: Rot3, x2: Rot3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
8593
8670
  ...
8671
+ class NonlinearEquality2SL4(NoiseModelFactor):
8672
+ def __init__(self, key1: int, key2: int, mu: float = 10000.0) -> None:
8673
+ ...
8674
+ def evaluateError(self, x1: SL4, x2: SL4) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
8675
+ ...
8594
8676
  class NonlinearEquality2SO3(NoiseModelFactor):
8595
8677
  def __init__(self, key1: int, key2: int, mu: float = 10000.0) -> None:
8596
8678
  ...
@@ -8816,6 +8898,21 @@ class NonlinearEqualityRot3(NoiseModelFactor):
8816
8898
  ...
8817
8899
  def serialize(self) -> str:
8818
8900
  ...
8901
+ class NonlinearEqualitySL4(NoiseModelFactor):
8902
+ def __getstate__(self) -> tuple:
8903
+ ...
8904
+ @typing.overload
8905
+ def __init__(self, j: int, feasible: SL4) -> None:
8906
+ ...
8907
+ @typing.overload
8908
+ def __init__(self, j: int, feasible: SL4, error_gain: float) -> None:
8909
+ ...
8910
+ def __setstate__(self, arg0: tuple) -> None:
8911
+ ...
8912
+ def deserialize(self, serialized: str) -> None:
8913
+ ...
8914
+ def serialize(self) -> str:
8915
+ ...
8819
8916
  class NonlinearEqualitySO3(NoiseModelFactor):
8820
8917
  def __getstate__(self) -> tuple:
8821
8918
  ...
@@ -9012,6 +9109,8 @@ class NonlinearFactorGraph:
9012
9109
  ...
9013
9110
  def addPriorRot3(self, key: int, prior: Rot3, noiseModel: noiseModel.Base) -> None:
9014
9111
  ...
9112
+ def addPriorSL4(self, key: int, prior: SL4, noiseModel: noiseModel.Base) -> None:
9113
+ ...
9015
9114
  def addPriorSO3(self, key: int, prior: SO3, noiseModel: noiseModel.Base) -> None:
9016
9115
  ...
9017
9116
  def addPriorSO4(self, key: int, prior: SO4, noiseModel: noiseModel.Base) -> None:
@@ -10545,6 +10644,11 @@ class Pose2:
10545
10644
  def Align(a: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], b: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> Pose2 | None:
10546
10645
  ...
10547
10646
  @staticmethod
10647
+ def Dim() -> int:
10648
+ """
10649
+ Static method to get the dimension (compile-time or dynamic)
10650
+ """
10651
+ @staticmethod
10548
10652
  @typing.overload
10549
10653
  def Expmap(xi: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> Pose2:
10550
10654
  """
@@ -10661,6 +10765,10 @@ class Pose2:
10661
10765
  ...
10662
10766
  def deserialize(self, serialized: str) -> None:
10663
10767
  ...
10768
+ def dim(self) -> int:
10769
+ """
10770
+ Provided fixed dimension indim()if needed.
10771
+ """
10664
10772
  def equals(self, pose: Pose2, tol: float) -> bool:
10665
10773
  """
10666
10774
  assert equality up to a tolerance
@@ -10774,6 +10882,10 @@ class Pose2:
10774
10882
  """
10775
10883
  translation
10776
10884
  """
10885
+ def vec(self) -> numpy.ndarray[tuple[typing.Literal[9], typing.Literal[1]], numpy.dtype[numpy.float64]]:
10886
+ """
10887
+ Vectorize the rotation matrix into a 9D vector.
10888
+ """
10777
10889
  def x(self) -> float:
10778
10890
  """
10779
10891
  get x
@@ -10794,6 +10906,11 @@ class Pose3:
10794
10906
  def Align(a: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], b: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> Pose3 | None:
10795
10907
  ...
10796
10908
  @staticmethod
10909
+ def Dim() -> int:
10910
+ """
10911
+ Static method to get the dimension (compile-time or dynamic)
10912
+ """
10913
+ @staticmethod
10797
10914
  @typing.overload
10798
10915
  def Expmap(xi: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> Pose3:
10799
10916
  """
@@ -10940,6 +11057,10 @@ class Pose3:
10940
11057
  ...
10941
11058
  def deserialize(self, serialized: str) -> None:
10942
11059
  ...
11060
+ def dim(self) -> int:
11061
+ """
11062
+ Provided fixed dimension indim()if needed.
11063
+ """
10943
11064
  def equals(self, pose: Pose3, tol: float) -> bool:
10944
11065
  """
10945
11066
  assert equality up to a tolerance
@@ -10957,7 +11078,7 @@ class Pose3:
10957
11078
  @typing.overload
10958
11079
  def inverse(self) -> Pose3:
10959
11080
  """
10960
- inverse transformation with derivatives
11081
+ inverse transformation
10961
11082
  """
10962
11083
  @typing.overload
10963
11084
  def inverse(self, H: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> Pose3:
@@ -11156,6 +11277,10 @@ class Pose3:
11156
11277
  """
11157
11278
  get translation
11158
11279
  """
11280
+ def vec(self) -> numpy.ndarray[tuple[typing.Literal[16], typing.Literal[1]], numpy.dtype[numpy.float64]]:
11281
+ """
11282
+ Return vectorized SE(3) matrix in column order.
11283
+ """
11159
11284
  def x(self) -> float:
11160
11285
  """
11161
11286
  get x
@@ -11803,6 +11928,19 @@ class PriorFactorRot3(NoiseModelFactor):
11803
11928
  ...
11804
11929
  def serialize(self) -> str:
11805
11930
  ...
11931
+ class PriorFactorSL4(NoiseModelFactor):
11932
+ def __getstate__(self) -> tuple:
11933
+ ...
11934
+ def __init__(self, key: int, prior: SL4, noiseModel: noiseModel.Base) -> None:
11935
+ ...
11936
+ def __setstate__(self, arg0: tuple) -> None:
11937
+ ...
11938
+ def deserialize(self, serialized: str) -> None:
11939
+ ...
11940
+ def prior(self) -> SL4:
11941
+ ...
11942
+ def serialize(self) -> str:
11943
+ ...
11806
11944
  class PriorFactorSO3(NoiseModelFactor):
11807
11945
  def __getstate__(self) -> tuple:
11808
11946
  ...
@@ -12118,6 +12256,11 @@ class ReferenceFrameFactorPoint3Pose3(NoiseModelFactor):
12118
12256
  ...
12119
12257
  class Rot2:
12120
12258
  @staticmethod
12259
+ def Dim() -> int:
12260
+ """
12261
+ Static method to get the dimension (compile-time or dynamic)
12262
+ """
12263
+ @staticmethod
12121
12264
  def Expmap(v: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> Rot2:
12122
12265
  """
12123
12266
  Exponential map at identity - create a rotation from canonical coordinates.
@@ -12200,6 +12343,10 @@ class Rot2:
12200
12343
  """
12201
12344
  def deserialize(self, serialized: str) -> None:
12202
12345
  ...
12346
+ def dim(self) -> int:
12347
+ """
12348
+ Provided fixed dimension indim()if needed.
12349
+ """
12203
12350
  def equals(self, R: Rot2, tol: float) -> bool:
12204
12351
  """
12205
12352
  equals with an tolerance
@@ -12258,6 +12405,10 @@ class Rot2:
12258
12405
  """
12259
12406
  rotate point from world to rotated frame$ p^c = (R_c^w)^T p^w $
12260
12407
  """
12408
+ def vec(self) -> numpy.ndarray[tuple[typing.Literal[4], typing.Literal[1]], numpy.dtype[numpy.float64]]:
12409
+ """
12410
+ Vectorize the rotation matrix into a 4D vector.
12411
+ """
12261
12412
  class Rot3:
12262
12413
  @staticmethod
12263
12414
  def AxisAngle(axis: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]], angle: float) -> Rot3:
@@ -12278,6 +12429,11 @@ class Rot3:
12278
12429
  Uses Full SVD to compute the orthogonal matrix, thus is highly accurate and robust. N. J. Higham. Matrix nearness problems and applications. In M. J. C. Gover and S. Barnett, editors, Applications of Matrix Theory, pages 1–27. Oxford University Press, 1989.
12279
12430
  """
12280
12431
  @staticmethod
12432
+ def Dim() -> int:
12433
+ """
12434
+ Static method to get the dimension (compile-time or dynamic)
12435
+ """
12436
+ @staticmethod
12281
12437
  def Expmap(v: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> Rot3:
12282
12438
  """
12283
12439
  Exponential map - create a rotation from canonical coordinates$ [R_x,R_y,R_z] $using Rodrigues' formula.
@@ -12412,6 +12568,10 @@ class Rot3:
12412
12568
  ...
12413
12569
  def deserialize(self, serialized: str) -> None:
12414
12570
  ...
12571
+ def dim(self) -> int:
12572
+ """
12573
+ Provided fixed dimension indim()if needed.
12574
+ """
12415
12575
  def equals(self, p: Rot3, tol: float) -> bool:
12416
12576
  """
12417
12577
  equals with an tolerance
@@ -12501,6 +12661,10 @@ class Rot3:
12501
12661
  """
12502
12662
  unrotate 3D direction from world frame to rotated coordinate frame
12503
12663
  """
12664
+ def vec(self) -> numpy.ndarray[tuple[typing.Literal[9], typing.Literal[1]], numpy.dtype[numpy.float64]]:
12665
+ """
12666
+ Vee maps from Lie algebra to tangent vector.
12667
+ """
12504
12668
  def xyz(self) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
12505
12669
  """
12506
12670
  Use RQ to calculate xyz angle representation.
@@ -12578,6 +12742,101 @@ class RotateFactor(NoiseModelFactor):
12578
12742
  """
12579
12743
  print
12580
12744
  """
12745
+ class SL4:
12746
+ @staticmethod
12747
+ def Dim() -> int:
12748
+ """
12749
+ Static method to get the dimension (compile-time or dynamic)
12750
+ """
12751
+ @staticmethod
12752
+ def Expmap(v: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> SL4:
12753
+ ...
12754
+ @staticmethod
12755
+ 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]]:
12756
+ ...
12757
+ @staticmethod
12758
+ def Identity() -> SL4:
12759
+ """
12760
+ identity for group operation
12761
+ """
12762
+ @staticmethod
12763
+ def Logmap(g: SL4) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
12764
+ ...
12765
+ @staticmethod
12766
+ def Vee(X: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
12767
+ ...
12768
+ def __getstate__(self) -> tuple:
12769
+ ...
12770
+ @typing.overload
12771
+ def __init__(self) -> None:
12772
+ ...
12773
+ @typing.overload
12774
+ def __init__(self, T: numpy.ndarray[tuple[typing.Literal[4], typing.Literal[4]], numpy.dtype[numpy.float64]]) -> None:
12775
+ ...
12776
+ def __mul__(self, arg0: SL4) -> SL4:
12777
+ ...
12778
+ def __repr__(self, s: str = '') -> str:
12779
+ ...
12780
+ def __setstate__(self, arg0: tuple) -> None:
12781
+ ...
12782
+ @typing.overload
12783
+ def between(self, sl4: SL4) -> SL4:
12784
+ ...
12785
+ @typing.overload
12786
+ 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:
12787
+ ...
12788
+ @typing.overload
12789
+ def compose(self, sl4: SL4) -> SL4:
12790
+ ...
12791
+ @typing.overload
12792
+ 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:
12793
+ ...
12794
+ def deserialize(self, serialized: str) -> None:
12795
+ ...
12796
+ def dim(self) -> int:
12797
+ """
12798
+ Provided fixed dimension indim()if needed.
12799
+ """
12800
+ def equals(self, sl4: SL4, tol: float) -> bool:
12801
+ """
12802
+ assert equality up to a tolerance
12803
+ """
12804
+ def expmap(self, v: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> SL4:
12805
+ """
12806
+ expmap as required by manifold concept Applies exponential map to v and composes with *this
12807
+ """
12808
+ @typing.overload
12809
+ def inverse(self) -> SL4:
12810
+ """
12811
+ inverse transformation
12812
+ """
12813
+ @typing.overload
12814
+ def inverse(self, H: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> SL4:
12815
+ ...
12816
+ 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]]:
12817
+ ...
12818
+ def logmap(self, g: SL4) -> numpy.ndarray[tuple[typing.Literal[15], typing.Literal[1]], numpy.dtype[numpy.float64]]:
12819
+ """
12820
+ logmap as required by manifold concept Applies logarithmic map to group element that takes *this to g
12821
+ """
12822
+ def matrix(self) -> numpy.ndarray[tuple[typing.Literal[4], typing.Literal[4]], numpy.dtype[numpy.float64]]:
12823
+ """
12824
+ convert to 4*4 matrix
12825
+ """
12826
+ def print(self, s: str = '') -> None:
12827
+ """
12828
+ print with optional string
12829
+ """
12830
+ 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:
12831
+ ...
12832
+ def serialize(self) -> str:
12833
+ ...
12834
+ def vec(self) -> numpy.ndarray[tuple[typing.Literal[16], typing.Literal[1]], numpy.dtype[numpy.float64]]:
12835
+ """
12836
+ Vectorize the matrix representation of a Lie group element.
12837
+
12838
+ The derivative H is the (N*N) x D Jacobian of this vectorization map. It is given by the formula H = (I_N ⊗ T) * P, where T is the N x N matrix of this group element, ⊗ is the Kronecker product, and P is the (N*N) x D matrix whose columns are the vectorized Lie algebra generators vec(Hat(e_j)). This can be computed efficiently via block-wise multiplication.
12839
+ """
12581
12840
  class SO3:
12582
12841
  @staticmethod
12583
12842
  def AxisAngle(axis: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], theta: float) -> SO3:
@@ -12586,6 +12845,9 @@ class SO3:
12586
12845
  def ClosestTo(M: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> SO3:
12587
12846
  ...
12588
12847
  @staticmethod
12848
+ def Dim() -> int:
12849
+ ...
12850
+ @staticmethod
12589
12851
  def Expmap(v: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> SO3:
12590
12852
  ...
12591
12853
  @staticmethod
@@ -12595,9 +12857,14 @@ class SO3:
12595
12857
  def FromMatrix(R: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> SO3:
12596
12858
  ...
12597
12859
  @staticmethod
12860
+ @typing.overload
12598
12861
  def Hat(xi: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
12599
12862
  ...
12600
12863
  @staticmethod
12864
+ @typing.overload
12865
+ def Hat(xi: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
12866
+ ...
12867
+ @staticmethod
12601
12868
  def Identity() -> SO3:
12602
12869
  ...
12603
12870
  @staticmethod
@@ -12607,8 +12874,13 @@ class SO3:
12607
12874
  def LogmapDerivative(omega: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]:
12608
12875
  ...
12609
12876
  @staticmethod
12877
+ @typing.overload
12610
12878
  def Vee(xi: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[3]], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
12611
12879
  ...
12880
+ @staticmethod
12881
+ @typing.overload
12882
+ def Vee(X: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]:
12883
+ ...
12612
12884
  @typing.overload
12613
12885
  def __init__(self) -> None:
12614
12886
  ...
@@ -12623,6 +12895,8 @@ class SO3:
12623
12895
  ...
12624
12896
  def compose(self, R: SO3) -> SO3:
12625
12897
  ...
12898
+ def dim(self) -> int:
12899
+ ...
12626
12900
  def equals(self, other: SO3, tol: float) -> bool:
12627
12901
  ...
12628
12902
  def expmap(self, v: numpy.ndarray[tuple[typing.Literal[3], typing.Literal[1]], numpy.dtype[numpy.float64]]) -> SO3:
@@ -12643,11 +12917,9 @@ class SO3:
12643
12917
  ...
12644
12918
  class SO4:
12645
12919
  @staticmethod
12646
- @typing.overload
12647
- def Expmap(v: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> SO4:
12920
+ def Dim() -> int:
12648
12921
  ...
12649
12922
  @staticmethod
12650
- @typing.overload
12651
12923
  def Expmap(v: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> SO4:
12652
12924
  ...
12653
12925
  @staticmethod
@@ -12663,7 +12935,7 @@ class SO4:
12663
12935
  def Logmap(p: SO4) -> numpy.ndarray[tuple[typing.Literal[6], typing.Literal[1]], numpy.dtype[numpy.float64]]:
12664
12936
  ...
12665
12937
  @staticmethod
12666
- def Vee(xi: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[6], typing.Literal[1]], numpy.dtype[numpy.float64]]:
12938
+ def Vee(X: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[typing.Literal[6], typing.Literal[1]], numpy.dtype[numpy.float64]]:
12667
12939
  ...
12668
12940
  @typing.overload
12669
12941
  def __init__(self) -> None:
@@ -12679,6 +12951,8 @@ class SO4:
12679
12951
  ...
12680
12952
  def compose(self, Q: SO4) -> SO4:
12681
12953
  ...
12954
+ def dim(self) -> int:
12955
+ ...
12682
12956
  def equals(self, other: SO4, tol: float) -> bool:
12683
12957
  ...
12684
12958
  def expmap(self, v: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> SO4:
@@ -12699,6 +12973,9 @@ class SO4:
12699
12973
  ...
12700
12974
  class SOn:
12701
12975
  @staticmethod
12976
+ def Dim() -> int:
12977
+ ...
12978
+ @staticmethod
12702
12979
  @typing.overload
12703
12980
  def Expmap(v: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> SOn:
12704
12981
  ...
@@ -12722,7 +12999,7 @@ class SOn:
12722
12999
  def Logmap(p: SOn) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
12723
13000
  ...
12724
13001
  @staticmethod
12725
- def Vee(xi: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
13002
+ def Vee(X: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
12726
13003
  ...
12727
13004
  def __getstate__(self) -> tuple:
12728
13005
  ...
@@ -12740,6 +13017,8 @@ class SOn:
12740
13017
  ...
12741
13018
  def deserialize(self, serialized: str) -> None:
12742
13019
  ...
13020
+ def dim(self) -> int:
13021
+ ...
12743
13022
  def equals(self, other: SOn, tol: float) -> bool:
12744
13023
  ...
12745
13024
  def expmap(self, v: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> SOn:
@@ -13342,7 +13621,7 @@ class Similarity2:
13342
13621
  @staticmethod
13343
13622
  def Dim() -> int:
13344
13623
  """
13345
- Dimensionality of tangent space = 4 DOF - used to autodetect sizes.
13624
+ Static method to get the dimension (compile-time or dynamic)
13346
13625
  """
13347
13626
  @staticmethod
13348
13627
  def Expmap(v: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> Similarity2:
@@ -13394,7 +13673,7 @@ class Similarity2:
13394
13673
  ...
13395
13674
  def dim(self) -> int:
13396
13675
  """
13397
- Dimensionality of tangent space = 4 DOF.
13676
+ Provided fixed dimension indim()if needed.
13398
13677
  """
13399
13678
  def equals(self, sim: Similarity2, tol: float) -> bool:
13400
13679
  """
@@ -13468,7 +13747,7 @@ class Similarity3:
13468
13747
  @staticmethod
13469
13748
  def Dim() -> int:
13470
13749
  """
13471
- Dimensionality of tangent space = 7 DOF - used to autodetect sizes.
13750
+ Static method to get the dimension (compile-time or dynamic)
13472
13751
  """
13473
13752
  @staticmethod
13474
13753
  def Expmap(v: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> Similarity3:
@@ -13525,7 +13804,7 @@ class Similarity3:
13525
13804
  ...
13526
13805
  def dim(self) -> int:
13527
13806
  """
13528
- Dimensionality of tangent space = 7 DOF.
13807
+ Provided fixed dimension indim()if needed.
13529
13808
  """
13530
13809
  def equals(self, sim: Similarity3, tol: float) -> bool:
13531
13810
  """
@@ -14770,16 +15049,10 @@ class StereoCamera:
14770
15049
  ...
14771
15050
  class StereoPoint2:
14772
15051
  @staticmethod
14773
- def Expmap(d: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> StereoPoint2:
14774
- ...
14775
- @staticmethod
14776
15052
  def Identity() -> StereoPoint2:
14777
15053
  """
14778
15054
  identity
14779
15055
  """
14780
- @staticmethod
14781
- def Logmap(p: StereoPoint2) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
14782
- ...
14783
15056
  def __add__(self, arg0: StereoPoint2) -> StereoPoint2:
14784
15057
  ...
14785
15058
  def __getstate__(self) -> tuple:
@@ -14801,26 +15074,16 @@ class StereoPoint2:
14801
15074
  ...
14802
15075
  def __sub__(self, arg0: StereoPoint2) -> StereoPoint2:
14803
15076
  ...
14804
- def between(self, p2: StereoPoint2) -> StereoPoint2:
14805
- ...
14806
- def compose(self, p1: StereoPoint2) -> StereoPoint2:
14807
- ...
14808
15077
  def deserialize(self, serialized: str) -> None:
14809
15078
  ...
14810
15079
  def equals(self, q: StereoPoint2, tol: float) -> bool:
14811
15080
  """
14812
15081
  equals
14813
15082
  """
14814
- def inverse(self) -> StereoPoint2:
14815
- ...
14816
- def localCoordinates(self, t2: StereoPoint2) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
14817
- ...
14818
15083
  def print(self, s: str = '') -> None:
14819
15084
  """
14820
15085
  print
14821
15086
  """
14822
- def retract(self, v: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]) -> StereoPoint2:
14823
- ...
14824
15087
  def serialize(self) -> str:
14825
15088
  ...
14826
15089
  def uL(self) -> float:
@@ -15911,6 +16174,8 @@ class Values:
15911
16174
  ...
15912
16175
  def atRot3(self, j: int) -> Rot3:
15913
16176
  ...
16177
+ def atSL4(self, j: int) -> SL4:
16178
+ ...
15914
16179
  def atSO3(self, j: int) -> SO3:
15915
16180
  ...
15916
16181
  def atSO4(self, j: int) -> SO4:
@@ -15988,6 +16253,9 @@ class Values:
15988
16253
  def insert(self, j: int, P: SOn) -> None:
15989
16254
  ...
15990
16255
  @typing.overload
16256
+ def insert(self, j: int, H: SL4) -> None:
16257
+ ...
16258
+ @typing.overload
15991
16259
  def insert(self, j: int, rot3: Rot3) -> None:
15992
16260
  ...
15993
16261
  @typing.overload
@@ -16116,6 +16384,9 @@ class Values:
16116
16384
  def insert_or_assign(self, j: int, P: SOn) -> None:
16117
16385
  ...
16118
16386
  @typing.overload
16387
+ def insert_or_assign(self, j: int, H: SL4) -> None:
16388
+ ...
16389
+ @typing.overload
16119
16390
  def insert_or_assign(self, j: int, rot3: Rot3) -> None:
16120
16391
  ...
16121
16392
  @typing.overload
@@ -16264,6 +16535,9 @@ class Values:
16264
16535
  def update(self, j: int, P: SOn) -> None:
16265
16536
  ...
16266
16537
  @typing.overload
16538
+ def update(self, j: int, H: SL4) -> None:
16539
+ ...
16540
+ @typing.overload
16267
16541
  def update(self, j: int, rot3: Rot3) -> None:
16268
16542
  ...
16269
16543
  @typing.overload
{gtsam_develop-4.3a0.dev202507301459.dist-info → gtsam_develop-4.3a0.dev202508021458.dist-info}/METADATA RENAMED
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.4
2
2
  Name: gtsam-develop
3
- Version: 4.3a0.dev202507301459
3
+ Version: 4.3a0.dev202508021458
4
4
  Summary: Georgia Tech Smoothing And Mapping library
5
5
  Home-page: https://gtsam.org/
6
6
  Author: Frank Dellaert et. al.
@@ -149,9 +149,9 @@ In GTSAM 4 a new and more efficient implementation, based on integrating on the
149
149
 
150
150
  ## Additional Information
151
151
 
152
- There is a [`GTSAM users Google group`](https://groups.google.com/forum/#!forum/gtsam-users) for general discussion.
152
+ There is a [GTSAM users Google group](https://groups.google.com/forum/#!forum/gtsam-users) for general discussion.
153
153
 
154
- Read about important [`GTSAM-Concepts`](GTSAM-Concepts.md) here. A primer on GTSAM Expressions,
154
+ Read about important [GTSAM-Concepts](doc/GTSAM-Concepts.md) here. A primer on GTSAM Expressions,
155
155
  which support (superfast) automatic differentiation,
156
156
  can be found on the [GTSAM wiki on BitBucket](https://bitbucket.org/gtborg/gtsam/wiki/Home).
157
157
 
{gtsam_develop-4.3a0.dev202507301459.dist-info → gtsam_develop-4.3a0.dev202508021458.dist-info}/RECORD RENAMED
@@ -1,6 +1,6 @@
1
1
  gtsam/__init__.py,sha256=6G-WPnb_FMQEJXNDDAmrKrQPau7evtd5svhTmMqhYSI,2011
2
- gtsam/__init__.pyi,sha256=buQr6Ko0mL8EVsx2lk9QYUlA5bVYjEpSqSR_JcPay-0,43980
3
- gtsam/gtsam.cpython-312-aarch64-linux-gnu.so,sha256=5Oh_oOryOsFTPL8lJh_1gBETixFK_LczhJl_04y2Q9A,22659033
2
+ gtsam/__init__.pyi,sha256=T8qhN2Wx22LkmYLriMWmwNhrjd92xR37uWjyuBpK-VA,44348
3
+ gtsam/gtsam.cpython-312-aarch64-linux-gnu.so,sha256=YmCoFygZzvksBpmPZZh1ADO-AmeSoBWc_sk8R5Ay-q8,22987441
4
4
  gtsam/gtsfm.py,sha256=Udlkb6o5iUk69uxBkb88-W1GLfu1g8iSuZlLu-RRU0o,202
5
5
  gtsam/imuBias.py,sha256=tz3bOCFl29iMycbGFoF-ud6kRsJYjA7DJ2RJoKPFRU8,209
6
6
  gtsam/noiseModel.py,sha256=ybfIHa4sLXe78_k-Dib8nTaw34BRXqEDVtS2B9dzSO0,217
@@ -114,7 +114,7 @@ gtsam/examples/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
114
114
  gtsam/examples/gtsam_plotly.py,sha256=bTXAzZ3i_RunKrdGwFLsMsetYYleQrzDa50ekmrt_nQ,17073
115
115
  gtsam/examples/plot_city10000.py,sha256=xsM1HFlcBn6TqEqQtZjlOl0WQI6tVZMgjtKdYIusbyE,3353
116
116
  gtsam/examples/simulation.py,sha256=VAopcCosvdtXRy6xe547EDz73lXhLiYbPnFQZWjo2wU,5405
117
- gtsam/gtsam/__init__.pyi,sha256=-g4OZxz_42DxSMiVEZhco-wcII7NpC_-ToKyRMPwPGQ,732331
117
+ gtsam/gtsam/__init__.pyi,sha256=QNuHb3aTIQgRVM-dwc8CMwigKvGqAGUIESgP4h35NyY,742250
118
118
  gtsam/gtsam/gtsfm.pyi,sha256=Onoh4CRaSYIQ0FID0vBkZeV7ESIhc2fh4rJGgaPY-ug,702
119
119
  gtsam/gtsam/imuBias.pyi,sha256=UqK0nLVICpnyw8B8_Q1GgX-qRd6atlCXT6OZNffZ1ao,2797
120
120
  gtsam/gtsam/lago.pyi,sha256=-VzJaQ1ho25n7S4VjbugWmPNUtKeMsoESifX9K8l2Yo,551
@@ -247,17 +247,17 @@ gtsam_develop.libs/libboost_system-0f8f8a6a.so.1.87.0,sha256=vG7c-nCNDFk9UrmGaYj
247
247
  gtsam_develop.libs/libboost_thread-e6217d1e.so.1.87.0,sha256=E2jFMpQ_xgH8mzebJPVAo9JKwZRF0cTUZx4q4aDVVKo,357745
248
248
  gtsam_develop.libs/libboost_timer-c03b5720.so.1.87.0,sha256=C-jrqHaflQqKfg88hGhzFRof8w0WX5Lw-N56zLtD3CE,133249
249
249
  gtsam_develop.libs/libcephes-gtsam-906422bf.so.1.0.0,sha256=aX4Q_2V2F1uwqCEdNkLhzOzgGWLf2cTeZn9OJeRcSvY,264913
250
- gtsam_develop.libs/libgtsam-36a678e0.so.4.3a0.dev202507301459,sha256=fOmmSefdhqxWzz2f6wDb6k61tnAoJRYNXMpfVL0jPo0,11074817
251
- gtsam_develop.libs/libgtsam_unstable-93bbce1b.so.4.3a0.dev202507301459,sha256=9fWHv4x_AzGBB6p-R_1reTZwiuwOELbfNtsmc37rv7c,2585577
250
+ gtsam_develop.libs/libgtsam-4bfd36cd.so.4.3a0.dev202508021458,sha256=7L0ylWWKVeespunWYsowYQAYxLVTdRhW77yRHyr_nB0,11275065
251
+ gtsam_develop.libs/libgtsam_unstable-c4df60a2.so.4.3a0.dev202508021458,sha256=BuC2kKDwQXmrEF9HXCzWSHBKxSZ9e3ZG4BeTMK-M94s,2585577
252
252
  gtsam_develop.libs/libmetis-gtsam-b7310f3a.so,sha256=6Y9LebAEnr8OFCzKGxK2KADmtBGIq3XnzDpXF7jMX4A,546689
253
253
  gtsam_unstable/__init__.py,sha256=FPc_oO5PFQZbrfpgugzQuI6LJfP1fzq82UQf_nuyGtk,30
254
- gtsam_unstable/gtsam_unstable.cpython-312-aarch64-linux-gnu.so,sha256=oPBhqs170rQvh1NKTcNRKVrk9phQBIiHrtgWNUUaVrs,2715801
254
+ gtsam_unstable/gtsam_unstable.cpython-312-aarch64-linux-gnu.so,sha256=-RAZ7oY0fb9DiU8V6Br52FV_pdJT9se9fiLSHCqqYhc,2715801
255
255
  gtsam_unstable/examples/LocalizationExample.py,sha256=na47I1PQ_5Tenj8Wg2LBg3GaqP32O4yEb8jtRWKu0P8,2882
256
256
  gtsam_unstable/examples/TimeOfArrivalExample.py,sha256=uky5ps4Ng83C0Q_s2EAc64Af6iztQjXXdj3ahifRXoI,3737
257
257
  gtsam_unstable/examples/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
258
258
  gtsam_unstable/tests/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
259
259
  gtsam_unstable/tests/test_ProjectionFactorRollingShutter.py,sha256=t2l62uWoXfjrM8oH6ogV7M20WjTYKZ4CSferdurMIY0,2156
260
- gtsam_develop-4.3a0.dev202507301459.dist-info/METADATA,sha256=19eJ7Qll-3d6D6ZKYngPIl2VdkUEVPhwMvoHvbcIPnQ,7767
261
- gtsam_develop-4.3a0.dev202507301459.dist-info/WHEEL,sha256=29GglsfgOKni3MnvXwDNoeBjBZY4LOjl_HH3QTWETk4,153
262
- gtsam_develop-4.3a0.dev202507301459.dist-info/top_level.txt,sha256=DOnqfd8DN2HpG5-V5t32TjFOB_vcYuyOWyRsgeoANEo,30
263
- gtsam_develop-4.3a0.dev202507301459.dist-info/RECORD,,
260
+ gtsam_develop-4.3a0.dev202508021458.dist-info/METADATA,sha256=klQnrdag_821o4Ul5Rbjx_PjwY48JPK_CLO9r1_KWYo,7767
261
+ gtsam_develop-4.3a0.dev202508021458.dist-info/WHEEL,sha256=29GglsfgOKni3MnvXwDNoeBjBZY4LOjl_HH3QTWETk4,153
262
+ gtsam_develop-4.3a0.dev202508021458.dist-info/top_level.txt,sha256=DOnqfd8DN2HpG5-V5t32TjFOB_vcYuyOWyRsgeoANEo,30
263
+ gtsam_develop-4.3a0.dev202508021458.dist-info/RECORD,,