gtsam-develop 4.3a0.dev202508252029__cp312-cp312-macosx_10_15_x86_64.whl → 4.3a0.dev202508290236__cp312-cp312-macosx_10_15_x86_64.whl

gtsam/__init__.pyi

@@ -3,27 +3,27 @@ Module definition file for GTSAM
 """
 from __future__ import annotations
 from builtins import dict as IndexPairSetMap
-from builtins import dict as KeyPairDoubleMap
 from builtins import dict as MatchIndicesMap
-from builtins import list as BetweenFactorPose2s
-from builtins import list as KeyVector
+from builtins import dict as KeyPairDoubleMap
 from builtins import list as SfmTrack2dVector
-from builtins import list as SfmMeasurementVector
 from builtins import list as Rot3Vector
-from builtins import list as Pose3Pairs
+from builtins import list as SfmMeasurementVector
+from builtins import list as Point2Pairs
+from builtins import list as Point2Vector
 from builtins import list as Pose3Vector
-from builtins import list as IndexPairVector
-from builtins import list as SfmCameras
-from builtins import list as BinaryMeasurementsRot3
-from builtins import list as BinaryMeasurementsPoint3
-from builtins import list as KeypointsVector
 from builtins import list as SfmTracks
-from builtins import list as Point3Pairs
-from builtins import list as Point2Vector
-from builtins import list as Point2Pairs
-from builtins import list as BetweenFactorPose3s
 from builtins import list as Pose2Pairs
+from builtins import list as Pose3Pairs
 from builtins import list as BinaryMeasurementsUnit3
+from builtins import list as Point3Pairs
+from builtins import list as BetweenFactorPose2s
+from builtins import list as IndexPairVector
+from builtins import list as BetweenFactorPose3s
+from builtins import list as BinaryMeasurementsPoint3
+from builtins import list as BinaryMeasurementsRot3
+from builtins import list as SfmCameras
+from builtins import list as KeypointsVector
+from builtins import list as KeyVector
 from gtsam.gtsam import AHRSFactor
 from gtsam.gtsam import AcceleratingScenario
 from gtsam.gtsam import AlgebraicDecisionTreeKey
@@ -178,19 +178,28 @@ from gtsam.gtsam import FixedLagSmoother
 from gtsam.gtsam import FixedLagSmootherResult
 from gtsam.gtsam import FourierBasis
 from gtsam.gtsam import FrobeniusBetweenFactorGal3
+from gtsam.gtsam import FrobeniusBetweenFactorNLGal3
+from gtsam.gtsam import FrobeniusBetweenFactorNLPose2
+from gtsam.gtsam import FrobeniusBetweenFactorNLPose3
+from gtsam.gtsam import FrobeniusBetweenFactorNLRot2
+from gtsam.gtsam import FrobeniusBetweenFactorNLRot3
+from gtsam.gtsam import FrobeniusBetweenFactorNLSL4
+from gtsam.gtsam import FrobeniusBetweenFactorNLSO3
+from gtsam.gtsam import FrobeniusBetweenFactorNLSO4
+from gtsam.gtsam import FrobeniusBetweenFactorNLSimilarity2
+from gtsam.gtsam import FrobeniusBetweenFactorNLSimilarity3
 from gtsam.gtsam import FrobeniusBetweenFactorPose2
 from gtsam.gtsam import FrobeniusBetweenFactorPose3
 from gtsam.gtsam import FrobeniusBetweenFactorRot2
 from gtsam.gtsam import FrobeniusBetweenFactorRot3
 from gtsam.gtsam import FrobeniusBetweenFactorSO3
 from gtsam.gtsam import FrobeniusBetweenFactorSO4
-from gtsam.gtsam import FrobeniusBetweenFactorSimilarity2
-from gtsam.gtsam import FrobeniusBetweenFactorSimilarity3
 from gtsam.gtsam import FrobeniusFactorGal3
 from gtsam.gtsam import FrobeniusFactorPose2
 from gtsam.gtsam import FrobeniusFactorPose3
 from gtsam.gtsam import FrobeniusFactorRot2
 from gtsam.gtsam import FrobeniusFactorRot3
+from gtsam.gtsam import FrobeniusFactorSL4
 from gtsam.gtsam import FrobeniusFactorSO3
 from gtsam.gtsam import FrobeniusFactorSO4
 from gtsam.gtsam import FrobeniusFactorSimilarity2
@@ -200,6 +209,7 @@ from gtsam.gtsam import FrobeniusPriorPose2
 from gtsam.gtsam import FrobeniusPriorPose3
 from gtsam.gtsam import FrobeniusPriorRot2
 from gtsam.gtsam import FrobeniusPriorRot3
+from gtsam.gtsam import FrobeniusPriorSL4
 from gtsam.gtsam import FrobeniusPriorSO3
 from gtsam.gtsam import FrobeniusPriorSO4
 from gtsam.gtsam import FrobeniusPriorSimilarity2
@@ -300,14 +310,18 @@ from gtsam.gtsam import JacobianFactor
 from gtsam.gtsam import JacobianVector
 from gtsam.gtsam import JointMarginal
 from gtsam.gtsam import KalmanFilter
+from gtsam.gtsam import KarcherMeanFactorGal3
 from gtsam.gtsam import KarcherMeanFactorPoint2
 from gtsam.gtsam import KarcherMeanFactorPoint3
 from gtsam.gtsam import KarcherMeanFactorPose2
 from gtsam.gtsam import KarcherMeanFactorPose3
 from gtsam.gtsam import KarcherMeanFactorRot2
 from gtsam.gtsam import KarcherMeanFactorRot3
+from gtsam.gtsam import KarcherMeanFactorSL4
 from gtsam.gtsam import KarcherMeanFactorSO3
 from gtsam.gtsam import KarcherMeanFactorSO4
+from gtsam.gtsam import KarcherMeanFactorSimilarity2
+from gtsam.gtsam import KarcherMeanFactorSimilarity3
 from gtsam.gtsam import KernelFunctionType
 from gtsam.gtsam import KeyGroupMap
 from gtsam.gtsam import KeyList
@@ -613,7 +627,7 @@ from gtsam.utils import findExampleDataFile
 import sys as sys
 from . import gtsam
 from . import utils
-__all__: list[str] = ['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']
+__all__: list[str] = ['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', 'FrobeniusBetweenFactorNLGal3', 'FrobeniusBetweenFactorNLPose2', 'FrobeniusBetweenFactorNLPose3', 'FrobeniusBetweenFactorNLRot2', 'FrobeniusBetweenFactorNLRot3', 'FrobeniusBetweenFactorNLSL4', 'FrobeniusBetweenFactorNLSO3', 'FrobeniusBetweenFactorNLSO4', 'FrobeniusBetweenFactorNLSimilarity2', 'FrobeniusBetweenFactorNLSimilarity3', 'FrobeniusBetweenFactorPose2', 'FrobeniusBetweenFactorPose3', 'FrobeniusBetweenFactorRot2', 'FrobeniusBetweenFactorRot3', 'FrobeniusBetweenFactorSO3', 'FrobeniusBetweenFactorSO4', 'FrobeniusFactorGal3', 'FrobeniusFactorPose2', 'FrobeniusFactorPose3', 'FrobeniusFactorRot2', 'FrobeniusFactorRot3', 'FrobeniusFactorSL4', 'FrobeniusFactorSO3', 'FrobeniusFactorSO4', 'FrobeniusFactorSimilarity2', 'FrobeniusFactorSimilarity3', 'FrobeniusPriorGal3', 'FrobeniusPriorPose2', 'FrobeniusPriorPose3', 'FrobeniusPriorRot2', 'FrobeniusPriorRot3', 'FrobeniusPriorSL4', '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', 'KarcherMeanFactorGal3', 'KarcherMeanFactorPoint2', 'KarcherMeanFactorPoint3', 'KarcherMeanFactorPose2', 'KarcherMeanFactorPose3', 'KarcherMeanFactorRot2', 'KarcherMeanFactorRot3', 'KarcherMeanFactorSL4', 'KarcherMeanFactorSO3', 'KarcherMeanFactorSO4', 'KarcherMeanFactorSimilarity2', 'KarcherMeanFactorSimilarity3', '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']
 class FixedLagSmootherKeyTimestampMap(dict):
     """
     Class to provide backwards compatibility

gtsam/gtsam/__init__.pyi

@@ -11,7 +11,7 @@ from . import noiseModel
 from . import so3
 from . import symbol_shorthand
 from . import utilities
-__all__: list[str] = ['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']
+__all__: list[str] = ['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', 'FrobeniusBetweenFactorNLGal3', 'FrobeniusBetweenFactorNLPose2', 'FrobeniusBetweenFactorNLPose3', 'FrobeniusBetweenFactorNLRot2', 'FrobeniusBetweenFactorNLRot3', 'FrobeniusBetweenFactorNLSL4', 'FrobeniusBetweenFactorNLSO3', 'FrobeniusBetweenFactorNLSO4', 'FrobeniusBetweenFactorNLSimilarity2', 'FrobeniusBetweenFactorNLSimilarity3', 'FrobeniusBetweenFactorPose2', 'FrobeniusBetweenFactorPose3', 'FrobeniusBetweenFactorRot2', 'FrobeniusBetweenFactorRot3', 'FrobeniusBetweenFactorSO3', 'FrobeniusBetweenFactorSO4', 'FrobeniusFactorGal3', 'FrobeniusFactorPose2', 'FrobeniusFactorPose3', 'FrobeniusFactorRot2', 'FrobeniusFactorRot3', 'FrobeniusFactorSL4', 'FrobeniusFactorSO3', 'FrobeniusFactorSO4', 'FrobeniusFactorSimilarity2', 'FrobeniusFactorSimilarity3', 'FrobeniusPriorGal3', 'FrobeniusPriorPose2', 'FrobeniusPriorPose3', 'FrobeniusPriorRot2', 'FrobeniusPriorRot3', 'FrobeniusPriorSL4', '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', 'KarcherMeanFactorGal3', 'KarcherMeanFactorPoint2', 'KarcherMeanFactorPoint3', 'KarcherMeanFactorPose2', 'KarcherMeanFactorPose3', 'KarcherMeanFactorRot2', 'KarcherMeanFactorRot3', 'KarcherMeanFactorSL4', 'KarcherMeanFactorSO3', 'KarcherMeanFactorSO4', 'KarcherMeanFactorSimilarity2', 'KarcherMeanFactorSimilarity3', 'KernelFunctionType', 'KeyGroupMap', 'KeyList', 'KeySet', 'LabeledSymbol', 'LevenbergMarquardtOptimizer', 'LevenbergMarquardtParams', 'LinearContainerFactor', 'LinearizationMode', 'MFAS', 'MT19937', 'MagFactor', 'MagFactor1', 'MagPoseFactorPose2', 'MagPoseFactorPose3', 'ManifoldEvaluationFactorChebyshev1BasisPose2', 'ManifoldEvaluationFactorChebyshev1BasisPose3', 'ManifoldEvaluationFactorChebyshev1BasisRot2', 'ManifoldEvaluationFactorChebyshev1BasisRot3', 'ManifoldEvaluationFactorChebyshev2BasisPose2', 'ManifoldEvaluationFactorChebyshev2BasisPose3', 'ManifoldEvaluationFactorChebyshev2BasisRot2', 'ManifoldEvaluationFactorChebyshev2BasisRot3', 'ManifoldEvaluationFactorChebyshev2Pose2', 'ManifoldEvaluationFactorChebyshev2Pose3', 'ManifoldEvaluationFactorChebyshev2Rot2', 'ManifoldEvaluationFactorChebyshev2Rot3', 'ManifoldEvaluationFactorFourierBasisPose2', 'ManifoldEvaluationFactorFourierBasisPose3', 'ManifoldEvaluationFactorFourierBasisRot2', 'ManifoldEvaluationFactorFourierBasisRot3', 'Marginals', 'NavState', 'NoiseFormat', 'NoiseModelFactor', 'NonlinearEquality2Cal3_S2', 'NonlinearEquality2CalibratedCamera', 'NonlinearEquality2ConstantBias', 'NonlinearEquality2PinholeCameraCal3Bundler', 'NonlinearEquality2PinholeCameraCal3Fisheye', 'NonlinearEquality2PinholeCameraCal3Unified', 'NonlinearEquality2PinholeCameraCal3_S2', 'NonlinearEquality2Point2', 'NonlinearEquality2Point3', 'NonlinearEquality2Pose2', 'NonlinearEquality2Pose3', 'NonlinearEquality2Rot2', 'NonlinearEquality2Rot3', 'NonlinearEquality2SL4', 'NonlinearEquality2SO3', 'NonlinearEquality2SO4', 'NonlinearEquality2SOn', 'NonlinearEquality2Similarity2', 'NonlinearEquality2Similarity3', 'NonlinearEquality2StereoPoint2', 'NonlinearEqualityCal3_S2', 'NonlinearEqualityCalibratedCamera', 'NonlinearEqualityConstantBias', 'NonlinearEqualityPinholeCameraCal3Bundler', 'NonlinearEqualityPinholeCameraCal3Fisheye', 'NonlinearEqualityPinholeCameraCal3Unified', 'NonlinearEqualityPinholeCameraCal3_S2', 'NonlinearEqualityPoint2', 'NonlinearEqualityPoint3', 'NonlinearEqualityPose2', 'NonlinearEqualityPose3', 'NonlinearEqualityRot2', 'NonlinearEqualityRot3', 'NonlinearEqualitySL4', 'NonlinearEqualitySO3', 'NonlinearEqualitySO4', 'NonlinearEqualitySOn', 'NonlinearEqualitySimilarity2', 'NonlinearEqualitySimilarity3', 'NonlinearEqualityStereoPoint2', 'NonlinearFactor', 'NonlinearFactorGraph', 'NonlinearISAM', 'NonlinearOptimizer', 'NonlinearOptimizerParams', 'Ordering', 'OrientedPlane3', 'OrientedPlane3DirectionPrior', 'OrientedPlane3Factor', 'PCGSolverParameters', 'PinholeCameraCal3Bundler', 'PinholeCameraCal3DS2', 'PinholeCameraCal3Fisheye', 'PinholeCameraCal3Unified', 'PinholeCameraCal3_S2', 'PinholeCameraCal3f', 'PinholePoseCal3Bundler', 'PinholePoseCal3DS2', 'PinholePoseCal3Fisheye', 'PinholePoseCal3Unified', 'PinholePoseCal3_S2', 'PlanarProjectionFactor1', 'PlanarProjectionFactor2', 'PlanarProjectionFactor3', 'Pose2', 'Pose3', 'Pose3AttitudeFactor', 'PoseRotationPrior2D', 'PoseRotationPrior3D', 'PoseTranslationPrior2D', 'PoseTranslationPrior3D', 'PreconditionerParameters', 'PreintegratedAhrsMeasurements', 'PreintegratedCombinedMeasurements', 'PreintegratedImuMeasurements', 'PreintegratedRotation', 'PreintegratedRotationParams', 'PreintegrationCombinedParams', 'PreintegrationParams', 'PrintDiscreteValues', 'PrintKeyList', 'PrintKeySet', 'PrintKeyVector', 'PriorFactorCal3Bundler', 'PriorFactorCal3DS2', 'PriorFactorCal3Fisheye', 'PriorFactorCal3Unified', 'PriorFactorCal3_S2', 'PriorFactorCalibratedCamera', 'PriorFactorConstantBias', 'PriorFactorDouble', 'PriorFactorNavState', 'PriorFactorPinholeCameraCal3Bundler', 'PriorFactorPinholeCameraCal3Fisheye', 'PriorFactorPinholeCameraCal3Unified', 'PriorFactorPinholeCameraCal3_S2', 'PriorFactorPoint2', 'PriorFactorPoint3', 'PriorFactorPose2', 'PriorFactorPose3', 'PriorFactorRot2', 'PriorFactorRot3', 'PriorFactorSL4', 'PriorFactorSO3', 'PriorFactorSO4', 'PriorFactorSOn', 'PriorFactorSimilarity2', 'PriorFactorSimilarity3', 'PriorFactorStereoPoint2', 'PriorFactorUnit3', 'PriorFactorVector', 'Quaternion', 'RangeFactor2', 'RangeFactor2D', 'RangeFactor3', 'RangeFactor3D', 'RangeFactorCalibratedCamera', 'RangeFactorCalibratedCameraPoint', 'RangeFactorPose2', 'RangeFactorPose3', 'RangeFactorSimpleCamera', 'RangeFactorSimpleCameraPoint', 'RangeFactorWithTransform2D', 'RangeFactorWithTransform3D', 'RangeFactorWithTransformPose2', 'RangeFactorWithTransformPose3', 'RedirectCout', 'ReferenceFrameFactorPoint3Pose3', 'Rot2', 'Rot3', 'Rot3AttitudeFactor', 'RotateDirectionsFactor', 'RotateFactor', 'SL4', 'SO3', 'SO4', 'SOn', 'Sampler', 'Scenario', 'ScenarioRunner', 'SfmData', 'SfmTrack', 'SfmTrack2d', 'ShonanAveraging2', 'ShonanAveraging3', 'ShonanAveragingParameters2', 'ShonanAveragingParameters3', 'ShonanFactor3', 'Similarity2', 'Similarity3', 'SimpleFundamentalMatrix', 'SmartFactorBasePinholeCameraCal3Bundler', 'SmartFactorBasePinholeCameraCal3DS2', 'SmartFactorBasePinholeCameraCal3Fisheye', 'SmartFactorBasePinholeCameraCal3Unified', 'SmartFactorBasePinholeCameraCal3_S2', 'SmartFactorBasePinholePoseCal3Bundler', 'SmartFactorBasePinholePoseCal3DS2', 'SmartFactorBasePinholePoseCal3Fisheye', 'SmartFactorBasePinholePoseCal3Unified', 'SmartFactorBasePinholePoseCal3_S2', 'SmartProjectionFactorPinholeCameraCal3Bundler', 'SmartProjectionFactorPinholeCameraCal3DS2', 'SmartProjectionFactorPinholeCameraCal3Fisheye', 'SmartProjectionFactorPinholeCameraCal3Unified', 'SmartProjectionFactorPinholeCameraCal3_S2', 'SmartProjectionFactorPinholePoseCal3Bundler', 'SmartProjectionFactorPinholePoseCal3DS2', 'SmartProjectionFactorPinholePoseCal3Fisheye', 'SmartProjectionFactorPinholePoseCal3Unified', 'SmartProjectionFactorPinholePoseCal3_S2', 'SmartProjectionParams', 'SmartProjectionPoseFactorCal3Bundler', 'SmartProjectionPoseFactorCal3DS2', 'SmartProjectionPoseFactorCal3Fisheye', 'SmartProjectionPoseFactorCal3Unified', 'SmartProjectionPoseFactorCal3_S2', 'SmartProjectionRigFactorPinholePoseCal3Bundler', 'SmartProjectionRigFactorPinholePoseCal3DS2', 'SmartProjectionRigFactorPinholePoseCal3Fisheye', 'SmartProjectionRigFactorPinholePoseCal3Unified', 'SmartProjectionRigFactorPinholePoseCal3_S2', 'StereoCamera', 'StereoPoint2', 'SubgraphSolver', 'SubgraphSolverParameters', 'Symbol', 'SymbolicBayesNet', 'SymbolicBayesTree', 'SymbolicBayesTreeClique', 'SymbolicCluster', 'SymbolicConditional', 'SymbolicEliminationTree', 'SymbolicFactor', 'SymbolicFactorGraph', 'SymbolicJunctionTree', 'TableDistribution', 'TableFactor', 'TransferFactorFundamentalMatrix', 'TransferFactorSimpleFundamentalMatrix', 'TranslationRecovery', 'TriangulationFactorCal3Bundler', 'TriangulationFactorCal3DS2', 'TriangulationFactorCal3Fisheye', 'TriangulationFactorCal3Unified', 'TriangulationFactorCal3_S2', 'TriangulationFactorPoseCal3Bundler', 'TriangulationFactorPoseCal3DS2', 'TriangulationFactorPoseCal3Fisheye', 'TriangulationFactorPoseCal3Unified', 'TriangulationFactorPoseCal3_S2', 'TriangulationParameters', 'TriangulationResult', 'Unit3', 'Value', 'Values', 'VariableIndex', 'VectorComponentFactorChebyshev1Basis', 'VectorComponentFactorChebyshev2', 'VectorComponentFactorChebyshev2Basis', 'VectorComponentFactorFourierBasis', 'VectorDerivativeFactorChebyshev1Basis', 'VectorDerivativeFactorChebyshev2', 'VectorDerivativeFactorChebyshev2Basis', 'VectorDerivativeFactorFourierBasis', 'VectorEvaluationFactorChebyshev1Basis', 'VectorEvaluationFactorChebyshev2', 'VectorEvaluationFactorChebyshev2Basis', 'VectorEvaluationFactorFourierBasis', 'VectorValues', 'cartesianProduct', 'checkConvergence', 'gtsfm', 'html', 'imuBias', 'initialCamerasAndPointsEstimate', 'initialCamerasEstimate', 'isDebugVersion', 'lago', 'linear_independent', 'load2D', 'load3D', 'markdown', 'mrsymbol', 'mrsymbolChr', 'mrsymbolIndex', 'mrsymbolLabel', 'noiseModel', 'parse2DFactors', 'parse3DFactors', 'readBal', 'readG2o', 'save2D', 'so3', 'symbol', 'symbolChr', 'symbolIndex', 'symbol_shorthand', 'triangulateNonlinear', 'triangulatePoint3', 'triangulateSafe', 'utilities', 'writeBAL', 'writeG2o']
 class AHRSFactor(NonlinearFactor):
     def __getstate__(self) -> tuple:
         ...
@@ -3694,7 +3694,16 @@ class FrobeniusBetweenFactorGal3(NoiseModelFactor):
         ...
     def evaluateError(self, T1: Gal3, T2: Gal3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
-class FrobeniusBetweenFactorPose2(NoiseModelFactor):
+class FrobeniusBetweenFactorNLGal3(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, j1: int, j2: int, T12: Gal3) -> None:
+        ...
+    @typing.overload
+    def __init__(self, key1: int, key2: int, T12: Gal3, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: Gal3, T2: Gal3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+class FrobeniusBetweenFactorNLPose2(NoiseModelFactor):
     @typing.overload
     def __init__(self, j1: int, j2: int, T12: Pose2) -> None:
         ...
@@ -3703,7 +3712,7 @@ class FrobeniusBetweenFactorPose2(NoiseModelFactor):
         ...
     def evaluateError(self, T1: Pose2, T2: Pose2) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
-class FrobeniusBetweenFactorPose3(NoiseModelFactor):
+class FrobeniusBetweenFactorNLPose3(NoiseModelFactor):
     @typing.overload
     def __init__(self, j1: int, j2: int, T12: Pose3) -> None:
         ...
@@ -3712,7 +3721,7 @@ class FrobeniusBetweenFactorPose3(NoiseModelFactor):
         ...
     def evaluateError(self, T1: Pose3, T2: Pose3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
-class FrobeniusBetweenFactorRot2(NoiseModelFactor):
+class FrobeniusBetweenFactorNLRot2(NoiseModelFactor):
     @typing.overload
     def __init__(self, j1: int, j2: int, T12: Rot2) -> None:
         ...
@@ -3721,7 +3730,7 @@ class FrobeniusBetweenFactorRot2(NoiseModelFactor):
         ...
     def evaluateError(self, T1: Rot2, T2: Rot2) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
-class FrobeniusBetweenFactorRot3(NoiseModelFactor):
+class FrobeniusBetweenFactorNLRot3(NoiseModelFactor):
     @typing.overload
     def __init__(self, j1: int, j2: int, T12: Rot3) -> None:
         ...
@@ -3730,7 +3739,16 @@ class FrobeniusBetweenFactorRot3(NoiseModelFactor):
         ...
     def evaluateError(self, T1: Rot3, T2: Rot3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
-class FrobeniusBetweenFactorSO3(NoiseModelFactor):
+class FrobeniusBetweenFactorNLSL4(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, j1: int, j2: int, T12: SL4) -> None:
+        ...
+    @typing.overload
+    def __init__(self, key1: int, key2: int, T12: SL4, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: SL4, T2: SL4) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+class FrobeniusBetweenFactorNLSO3(NoiseModelFactor):
     @typing.overload
     def __init__(self, j1: int, j2: int, T12: SO3) -> None:
         ...
@@ -3739,7 +3757,7 @@ class FrobeniusBetweenFactorSO3(NoiseModelFactor):
         ...
     def evaluateError(self, T1: SO3, T2: SO3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
-class FrobeniusBetweenFactorSO4(NoiseModelFactor):
+class FrobeniusBetweenFactorNLSO4(NoiseModelFactor):
     @typing.overload
     def __init__(self, j1: int, j2: int, T12: SO4) -> None:
         ...
@@ -3748,7 +3766,7 @@ class FrobeniusBetweenFactorSO4(NoiseModelFactor):
         ...
     def evaluateError(self, T1: SO4, T2: SO4) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
-class FrobeniusBetweenFactorSimilarity2(NoiseModelFactor):
+class FrobeniusBetweenFactorNLSimilarity2(NoiseModelFactor):
     @typing.overload
     def __init__(self, j1: int, j2: int, T12: Similarity2) -> None:
         ...
@@ -3757,7 +3775,7 @@ class FrobeniusBetweenFactorSimilarity2(NoiseModelFactor):
         ...
     def evaluateError(self, T1: Similarity2, T2: Similarity2) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
-class FrobeniusBetweenFactorSimilarity3(NoiseModelFactor):
+class FrobeniusBetweenFactorNLSimilarity3(NoiseModelFactor):
     @typing.overload
     def __init__(self, j1: int, j2: int, T12: Similarity3) -> None:
         ...
@@ -3766,6 +3784,60 @@ class FrobeniusBetweenFactorSimilarity3(NoiseModelFactor):
         ...
     def evaluateError(self, T1: Similarity3, T2: Similarity3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
+class FrobeniusBetweenFactorPose2(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, j1: int, j2: int, T12: Pose2) -> None:
+        ...
+    @typing.overload
+    def __init__(self, key1: int, key2: int, T12: Pose2, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: Pose2, T2: Pose2) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+class FrobeniusBetweenFactorPose3(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, j1: int, j2: int, T12: Pose3) -> None:
+        ...
+    @typing.overload
+    def __init__(self, key1: int, key2: int, T12: Pose3, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: Pose3, T2: Pose3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+class FrobeniusBetweenFactorRot2(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, j1: int, j2: int, T12: Rot2) -> None:
+        ...
+    @typing.overload
+    def __init__(self, key1: int, key2: int, T12: Rot2, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: Rot2, T2: Rot2) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+class FrobeniusBetweenFactorRot3(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, j1: int, j2: int, T12: Rot3) -> None:
+        ...
+    @typing.overload
+    def __init__(self, key1: int, key2: int, T12: Rot3, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: Rot3, T2: Rot3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+class FrobeniusBetweenFactorSO3(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, j1: int, j2: int, T12: SO3) -> None:
+        ...
+    @typing.overload
+    def __init__(self, key1: int, key2: int, T12: SO3, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: SO3, T2: SO3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
+class FrobeniusBetweenFactorSO4(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, j1: int, j2: int, T12: SO4) -> None:
+        ...
+    @typing.overload
+    def __init__(self, key1: int, key2: int, T12: SO4, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: SO4, T2: SO4) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
 class FrobeniusFactorGal3(NoiseModelFactor):
     @typing.overload
     def __init__(self, key1: int, key2: int) -> None:
@@ -3811,6 +3883,15 @@ class FrobeniusFactorRot3(NoiseModelFactor):
         ...
     def evaluateError(self, T1: Rot3, T2: Rot3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
+class FrobeniusFactorSL4(NoiseModelFactor):
+    @typing.overload
+    def __init__(self, key1: int, key2: int) -> None:
+        ...
+    @typing.overload
+    def __init__(self, j1: int, j2: int, model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, T1: SL4, T2: SL4) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
 class FrobeniusFactorSO3(NoiseModelFactor):
     @typing.overload
     def __init__(self, key1: int, key2: int) -> None:
@@ -3872,6 +3953,11 @@ class FrobeniusPriorRot3(NoiseModelFactor):
         ...
     def evaluateError(self, g: Rot3) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
         ...
+class FrobeniusPriorSL4(NoiseModelFactor):
+    def __init__(self, j: int, M: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], model: noiseModel.Base) -> None:
+        ...
+    def evaluateError(self, g: SL4) -> numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]]:
+        ...
 class FrobeniusPriorSO3(NoiseModelFactor):
     def __init__(self, j: int, M: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], model: noiseModel.Base) -> None:
         ...
@@ -7770,6 +7856,13 @@ class KalmanFilter:
         """
     def updateQ(self, p: GaussianDensity, H: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]], z: numpy.ndarray[tuple[M, typing.Literal[1]], numpy.dtype[numpy.float64]], Q: numpy.ndarray[tuple[M, N], numpy.dtype[numpy.float64]]) -> GaussianDensity:
         ...
+class KarcherMeanFactorGal3(NonlinearFactor):
+    @typing.overload
+    def __init__(self, keys: list[int]) -> None:
+        ...
+    @typing.overload
+    def __init__(self, keys: list[int], d: int, beta: float) -> None:
+        ...
 class KarcherMeanFactorPoint2(NonlinearFactor):
     @typing.overload
     def __init__(self, keys: list[int]) -> None:
@@ -7812,6 +7905,13 @@ class KarcherMeanFactorRot3(NonlinearFactor):
     @typing.overload
     def __init__(self, keys: list[int], d: int, beta: float) -> None:
         ...
+class KarcherMeanFactorSL4(NonlinearFactor):
+    @typing.overload
+    def __init__(self, keys: list[int]) -> None:
+        ...
+    @typing.overload
+    def __init__(self, keys: list[int], d: int, beta: float) -> None:
+        ...
 class KarcherMeanFactorSO3(NonlinearFactor):
     @typing.overload
     def __init__(self, keys: list[int]) -> None:
@@ -7826,6 +7926,20 @@ class KarcherMeanFactorSO4(NonlinearFactor):
     @typing.overload
     def __init__(self, keys: list[int], d: int, beta: float) -> None:
         ...
+class KarcherMeanFactorSimilarity2(NonlinearFactor):
+    @typing.overload
+    def __init__(self, keys: list[int]) -> None:
+        ...
+    @typing.overload
+    def __init__(self, keys: list[int], d: int, beta: float) -> None:
+        ...
+class KarcherMeanFactorSimilarity3(NonlinearFactor):
+    @typing.overload
+    def __init__(self, keys: list[int]) -> None:
+        ...
+    @typing.overload
+    def __init__(self, keys: list[int], d: int, beta: float) -> None:
+        ...
 class KernelFunctionType:
     """
     Members:

gtsam/tests/test_FrobeniusFactor.py

@@ -8,27 +8,32 @@ See LICENSE for the license information
 FrobeniusFactor unit tests.
 Author: Frank Dellaert
 """
+
 # pylint: disable=no-name-in-module, import-error, invalid-name
 import unittest
 
 import numpy as np
+
 from gtsam import (
-    Rot3,
+    SL4,
     SO3,
     SO4,
+    FrobeniusBetweenFactorGal3,
+    FrobeniusBetweenFactorNLSimilarity2,
+    FrobeniusBetweenFactorNLSimilarity3,
+    FrobeniusBetweenFactorNLSL4,
     FrobeniusBetweenFactorSO4,
+    FrobeniusFactorGal3,
+    FrobeniusFactorSL4,
+    FrobeniusFactorSimilarity2,
+    FrobeniusFactorSimilarity3,
     FrobeniusFactorSO4,
+    Gal3,
+    Rot3,
     ShonanFactor3,
-    SOn,
     Similarity2,
     Similarity3,
-    FrobeniusFactorSimilarity2,
-    FrobeniusBetweenFactorSimilarity2,
-    FrobeniusFactorSimilarity3,
-    FrobeniusBetweenFactorSimilarity3,
-    Gal3,
-    FrobeniusFactorGal3,
-    FrobeniusBetweenFactorGal3,
+    SOn,
 )
 
 id = SO4()
@@ -46,6 +51,15 @@ P2_sim3 = Similarity3.Expmap(np.array([0.2, 0.3, 0.4, 0.5, 0.6, 0.7, 0.8]))
 G1_gal3 = Gal3(Rot3.Rz(0.1), np.array([0.2, 0.3, 0.4]), np.array([0.5, 0.6, 0.7]), 0.8)
 G2_gal3 = Gal3(Rot3.Rz(0.2), np.array([0.3, 0.4, 0.5]), np.array([0.6, 0.7, 0.8]), 0.9)
 
+# Define SL4 transformations
+
+id_sl4 = SL4()
+T_matrix1 = np.array([[1, 0, 0, 1], [0, 1, 0, 2], [0, 0, 1, 3], [0, 0, 0, 1]])
+G1_sl4 = SL4(T_matrix1)
+
+T_matrix2 = np.array([[1, 0, 0, 4], [0, 1, 0, 5], [0, 0, 1, 6], [0, 0, 0, 1]])
+G2_sl4 = SL4(T_matrix2)
+
 
 class TestFrobeniusFactorSO4(unittest.TestCase):
     """Test FrobeniusFactor factors."""
@@ -85,7 +99,7 @@ class TestFrobeniusFactorSimilarity2(unittest.TestCase):
         np.testing.assert_allclose(actual, expected, atol=1e-9)
 
     def test_frobenius_between_factor(self):
-        factor = FrobeniusBetweenFactorSimilarity2(1, 2, P1_sim2.between(P2_sim2))
+        factor = FrobeniusBetweenFactorNLSimilarity2(1, 2, P1_sim2.between(P2_sim2))
         actual = factor.evaluateError(P1_sim2, P2_sim2)
         expected = np.zeros((9,))
         np.testing.assert_allclose(actual, expected, atol=1e-9)
@@ -99,7 +113,7 @@ class TestFrobeniusFactorSimilarity3(unittest.TestCase):
         np.testing.assert_allclose(actual, expected, atol=1e-9)
 
     def test_frobenius_between_factor(self):
-        factor = FrobeniusBetweenFactorSimilarity3(1, 2, P1_sim3.between(P2_sim3))
+        factor = FrobeniusBetweenFactorNLSimilarity3(1, 2, P1_sim3.between(P2_sim3))
         actual = factor.evaluateError(P1_sim3, P2_sim3)
         expected = np.zeros((16,))
         np.testing.assert_allclose(actual, expected, atol=1e-9)
@@ -119,5 +133,23 @@ class TestFrobeniusFactorGal3(unittest.TestCase):
         np.testing.assert_allclose(actual, expected, atol=1e-9)
 
 
+class TestFrobeniusFactorSL4(unittest.TestCase):
+    def test_frobenius_factor(self):
+        """Test Frobenius factor for SL4."""
+        factor = FrobeniusFactorSL4(1, 2)  # Replace with appropriate SL4 factor class
+        actual = factor.evaluateError(G1_sl4, G2_sl4)
+        expected = (G2_sl4.matrix() - G1_sl4.matrix()).transpose().reshape((16,))
+        np.testing.assert_allclose(actual, expected, atol=1e-9)
+
+    def test_frobenius_between_factor(self):
+        """Test Frobenius BetweenFactor for SL4."""
+        factor = FrobeniusBetweenFactorNLSL4(
+            1, 2, G1_sl4.between(G2_sl4)
+        )  # Replace with appropriate SL4 factor class
+        actual = factor.evaluateError(G1_sl4, G2_sl4)
+        expected = np.zeros((16,))
+        np.testing.assert_allclose(actual, expected, atol=1e-9)
+
+
 if __name__ == "__main__":
     unittest.main()

{gtsam_develop-4.3a0.dev202508252029.dist-info → gtsam_develop-4.3a0.dev202508290236.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: gtsam-develop
-Version: 4.3a0.dev202508252029
+Version: 4.3a0.dev202508290236
 Summary: Georgia Tech Smoothing And Mapping library
 Home-page: https://gtsam.org/
 Author: Frank Dellaert et. al.

{gtsam_develop-4.3a0.dev202508252029.dist-info → gtsam_develop-4.3a0.dev202508290236.dist-info}/RECORD

@@ -1,13 +1,13 @@
 gtsam/symbol_shorthand.py,sha256=HlTV-Z5aB5cXWT5AsbKOeWZIHoXQsH2W1S90ET-tidA,236
-gtsam/__init__.pyi,sha256=NI4w_dfdSb0Ztra6UauZhX9cnwthf-vOGN-v7xF2Tj0,44359
+gtsam/__init__.pyi,sha256=X3Nw7k2Fd_qMJCq698fADLjcqusIqBwD10gdOyiPm8s,45483
 gtsam/gtsfm.py,sha256=Udlkb6o5iUk69uxBkb88-W1GLfu1g8iSuZlLu-RRU0o,202
-gtsam/gtsam.cpython-312-darwin.so,sha256=bq3hpQ-7eLgTHRHBoSwa1WbpfSC-U-Q-vqMKlL6dStU,27840640
+gtsam/gtsam.cpython-312-darwin.so,sha256=b4b8ffKUyHnELsIksfuE6X_7PFN1KxJBPlVPA8kzv-U,27995072
 gtsam/__init__.py,sha256=6G-WPnb_FMQEJXNDDAmrKrQPau7evtd5svhTmMqhYSI,2011
 gtsam/noiseModel.py,sha256=ybfIHa4sLXe78_k-Dib8nTaw34BRXqEDVtS2B9dzSO0,217
 gtsam/imuBias.py,sha256=tz3bOCFl29iMycbGFoF-ud6kRsJYjA7DJ2RJoKPFRU8,209
 gtsam/gtsam/utilities.pyi,sha256=i05kEneiWpMgXXo64Q0er5Ra-07ZXtSf4HafAq8bvjM,3395
 gtsam/gtsam/gtsfm.pyi,sha256=YqHbjQW2aHsecKdORMcoGqJscEVvor4GH3Ve8ze9e6A,713
-gtsam/gtsam/__init__.pyi,sha256=oSNga9ubuwlVsC5fCqsFzfofindgf7--WIm502lbq6I,743044
+gtsam/gtsam/__init__.pyi,sha256=b0RUumwICraFrWTPWDUA8ZOfZxISrd4UJPqsfDZTtsQ,748307
 gtsam/gtsam/so3.pyi,sha256=46DCpeWznNY3UMRjbnpSagaPwDer7_ZpUDwDLUS3Ceo,4534
 gtsam/gtsam/imuBias.pyi,sha256=zXpyT6XAIoA6eOMRom7bzPc86BS_3VoO_oujcpsHct4,2808
 gtsam/gtsam/symbol_shorthand.pyi,sha256=JMd25P7XvfC6iJJvLos3WmzmzJDgsCKtbzXBwBmvg34,1002
@@ -17,7 +17,7 @@ gtsam/gtsam/noiseModel/mEstimator.pyi,sha256=WpoQSQf_N20WE_nFTSL7_xoPQN-avW31JK4
 gtsam/tests/simulation.py,sha256=VAopcCosvdtXRy6xe547EDz73lXhLiYbPnFQZWjo2wU,5405
 gtsam/tests/test_OdometryExample.py,sha256=aO-ciYNbKo8ru0bxexEtlj4xN9WGiSBlLOQnRkCCAx0,2094
 gtsam/tests/test_KarcherMeanFactor.py,sha256=L3_VAOljyRDmyOjOlZqnW-5apqufsDd8UnLIZ-d-_VE,2369
-gtsam/tests/test_FrobeniusFactor.py,sha256=azS0x0EDgj9N4Z4OYAMip94hTkvYo7AcjZvuLtctGMA,4420
+gtsam/tests/test_FrobeniusFactor.py,sha256=F8sCyeKIzou6VwOiumMucB26hi5_Wms8IjaCa1SIOM8,5562
 gtsam/tests/ImuFactorISAM2Example.py,sha256=G9HS3tHAp3plMfulFtsxE1mR467wSXlpoND8GjbqbyM,5724
 gtsam/tests/CombinedImuFactorExample.py,sha256=RLR2_q6IU-cAHiaVYBNPeT8Xg1COVHuXKrML6l480Vk,9455
 gtsam/tests/test_Factors.py,sha256=ehOfrP2xHSQiIDgtWcoxxg59MiQsHWPB_maaf-YEs7U,1427
@@ -128,17 +128,17 @@ gtsam/utils/__init__.py,sha256=_ID7pb13SDZedga5KdBqpPug4PW3eU3THdVF_3jrakQ,678
 gtsam/utils/test_case.py,sha256=3wIqAW5_smes95XUJgUjD4v3FXACYSVzQ1l6MMdwSkA,1848
 gtsam/utils/logging_optimizer.py,sha256=tRnzQKV4eT5djS0Ojy5J7OGu7oVRjZw7Jhjrx_VQVTU,4417
 gtsam/utils/generate_trajectory.py,sha256=_1TZWhpRKj8ha0FOEmqUpEzAt3KLgwqyZJ4ueFD2jmE,2663
+gtsam/.dylibs/libgtsam.4.3a0.dev202508290236.dylib,sha256=FUHDGdCziagPMWIHRahNi6PsOz7DLuPzi2g4yBgSjEo,6900528
 gtsam/.dylibs/libboost_thread.dylib,sha256=Zdt9bJonKZ6UqOr9vX46yIR7Ii7FQMAb25KFtictZxY,140096
-gtsam/.dylibs/libgtsam_unstable.4.3a0.dev202508252029.dylib,sha256=DvQWPwFZaQuPkoj1FQG0vPZOQppBrNQB9I6F3d9aacs,1884704
 gtsam/.dylibs/libboost_regex.dylib,sha256=OuKqIt11T7pWAk6xIICf7IqZWnp2hL8mf5Yv21l53H0,374624
 gtsam/.dylibs/libboost_serialization.dylib,sha256=TfkeoS_P_8cWumat96Q4LuMnGB_YFaSC-obPYM-JTao,420944
-gtsam/.dylibs/libgtsam.4.3a0.dev202508252029.dylib,sha256=zUVcbioJlN_TIxpcFpYudjHE_IFJPQZGzd_PS2r4HHc,6898624
 gtsam/.dylibs/libboost_timer.dylib,sha256=cp2NxSdL2hk5jTL63h41uzLfCKJQ3uRyCU8WhfoEl0g,82416
 gtsam/.dylibs/libboost_filesystem.dylib,sha256=Fuh5k1wjz7-McEYOYjZGKedrYGsboXzTrf7GyXiEQiQ,199712
 gtsam/.dylibs/libcephes-gtsam.1.0.0.dylib,sha256=ISA3p6BaPYULDTy4lb9OL6526GfF1gM2n5EE9rvgNKs,209680
 gtsam/.dylibs/libmetis-gtsam.dylib,sha256=4TdsUZUkBMeyE0Y-xnPH-CibvImkJeKUDSiHsI6fm8Y,532192
 gtsam/.dylibs/libboost_atomic.dylib,sha256=jthy3MSjmFpFmc2LPKzw2TXbK5dY8NbIETJd5JqiIOI,104400
 gtsam/.dylibs/libboost_date_time.dylib,sha256=gBEWbnfqECB3b47buz7qxcWANckV3uqLs-LF4jFs2kI,35008
+gtsam/.dylibs/libgtsam_unstable.4.3a0.dev202508290236.dylib,sha256=susGVClReojv74ZBkM9iVwHMb1Xmch8you3ERvFvAcU,1884704
 gtsam/.dylibs/libboost_system.dylib,sha256=S8C6sGTQd392wDqFEU8S7rOWuL82AzxzDlfSUcXeLEI,34992
 gtsam/.dylibs/libboost_chrono.dylib,sha256=CnSKECvMyr_wcvVTyJ5t-v9IDuzt51VcDy2DNkH_85s,80960
 gtsam/examples/simulation.py,sha256=VAopcCosvdtXRy6xe547EDz73lXhLiYbPnFQZWjo2wU,5405
@@ -250,14 +250,14 @@ gtsam/Data/Balbianello/BalbianelloMedium-4.key.gz,sha256=P6tu3JmA0NKlcFYdgYczTOH
 gtsam/Data/Balbianello/BalbianelloMedium-1.key.gz,sha256=RgT7tVXXOwvDug20TW-9xtoeO3dSSPMF1n9DaKxdrIw,332878
 gtsam/Data/Balbianello/BalbianelloMedium-3.key.gz,sha256=yNMcyqwZCOj9FG-6qXQ9xhJjpM135cTBJYlOUBG0rnQ,296236
 gtsam/Data/Balbianello/BalbianelloMedium-5.key.gz,sha256=4veDrxRdLH8k1DIhgj1984MitZ7nAWoXDWTWyXuu7Lg,241361
+gtsam_develop-4.3a0.dev202508290236.dist-info/RECORD,,
+gtsam_develop-4.3a0.dev202508290236.dist-info/WHEEL,sha256=6EKLL8RwhYSnVMolr8rrjA-E-LykMW3Kt89lzquJzH8,138
+gtsam_develop-4.3a0.dev202508290236.dist-info/top_level.txt,sha256=DOnqfd8DN2HpG5-V5t32TjFOB_vcYuyOWyRsgeoANEo,30
+gtsam_develop-4.3a0.dev202508290236.dist-info/METADATA,sha256=LgHvH-eHwR5T5VO1WlPtWU2OGd6VYdnve0PJFO_mf08,8808
 gtsam_unstable/__init__.py,sha256=FPc_oO5PFQZbrfpgugzQuI6LJfP1fzq82UQf_nuyGtk,30
-gtsam_unstable/gtsam_unstable.cpython-312-darwin.so,sha256=Omo1J6khSCE6JQSvQI7V7TL0x2h1-uyBl5PERebdRR8,3197344
+gtsam_unstable/gtsam_unstable.cpython-312-darwin.so,sha256=3Mcpybh8DLlDa01FYYqOLxVdP3OddhPm8R8eyrtD_7c,3197344
 gtsam_unstable/tests/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 gtsam_unstable/tests/test_ProjectionFactorRollingShutter.py,sha256=t2l62uWoXfjrM8oH6ogV7M20WjTYKZ4CSferdurMIY0,2156
 gtsam_unstable/examples/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 gtsam_unstable/examples/LocalizationExample.py,sha256=na47I1PQ_5Tenj8Wg2LBg3GaqP32O4yEb8jtRWKu0P8,2882
 gtsam_unstable/examples/TimeOfArrivalExample.py,sha256=uky5ps4Ng83C0Q_s2EAc64Af6iztQjXXdj3ahifRXoI,3737
-gtsam_develop-4.3a0.dev202508252029.dist-info/RECORD,,
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