pymomentum-cpu 0.1.82.post0__cp312-cp312-macosx_14_0_arm64.whl → 0.1.83.post0__cp312-cp312-macosx_14_0_arm64.whl

include/momentum/io/common/stream_utils.h

@@ -22,8 +22,8 @@ namespace momentum {
 struct spanstreambuf : std::streambuf {
   /// Construct a spanstreambuf with an optional buffer.
   ///
-  /// @param buffer A gsl::span of const std::byte (default: empty span).
-  spanstreambuf(gsl::span<const std::byte> buffer = {});
+  /// @param buffer A std::span of const std::byte (default: empty span).
+  spanstreambuf(std::span<const std::byte> buffer = {});
 
   /// Destructor.
   virtual ~spanstreambuf() override;
@@ -41,8 +41,8 @@ struct spanstreambuf : std::streambuf {
 struct ispanstream : std::istream {
   /// Construct an ispanstream with a buffer.
   ///
-  /// @param buffer A gsl::span of const std::byte.
-  explicit ispanstream(gsl::span<const std::byte> buffer);
+  /// @param buffer A std::span of const std::byte.
+  explicit ispanstream(std::span<const std::byte> buffer);
 
   /// Destructor.
   virtual ~ispanstream();

include/momentum/io/fbx/fbx_io.h

@@ -8,10 +8,13 @@
 #pragma once
 
 #include <momentum/character/fwd.h>
+#include <momentum/character/marker.h>
 #include <momentum/common/filesystem.h>
 #include <momentum/math/types.h>
 
-#include <gsl/span>
+#include <span>
+
+#include <string_view>
 
 namespace momentum {
 
@@ -58,7 +61,7 @@ Character loadFbxCharacter(
 // This is different from historical momentum behavior so it's off by default.
 // Permissive mode allows loading  mesh-only characters (without skin weights).
 Character loadFbxCharacter(
-    gsl::span<const std::byte> inputSpan,
+    std::span<const std::byte> inputSpan,
     KeepLocators keepLocators = KeepLocators::No,
     bool permissive = false,
     LoadBlendShapes loadBlendShapes = LoadBlendShapes::No);
@@ -72,12 +75,22 @@ std::tuple<Character, std::vector<MatrixXf>, float> loadFbxCharacterWithMotion(
 
 // Permissive mode allows loading mesh-only characters (without skin weights).
 std::tuple<Character, std::vector<MatrixXf>, float> loadFbxCharacterWithMotion(
-    gsl::span<const std::byte> inputSpan,
+    std::span<const std::byte> inputSpan,
     KeepLocators keepLocatorss = KeepLocators::No,
     bool permissive = false,
     LoadBlendShapes loadBlendShape = LoadBlendShapes::No);
 
-// Permissive mode allows saving mesh-only characters (without skin weights).
+/// Save a character with animation to an FBX file.
+/// @param filename Path to the output FBX file
+/// @param character The character to save
+/// @param poses Model parameters for each frame (empty for bind pose only)
+/// @param identity Identity pose parameters (empty to use bind pose)
+/// @param framerate Animation framerate in frames per second
+/// @param saveMesh Whether to include mesh geometry in the output
+/// @param coordSystemInfo Coordinate system configuration for the FBX file
+/// @param permissive Permissive mode allows saving mesh-only characters (without skin weights)
+/// @param fbxNamespace Optional namespace to prepend to all node names (e.g., "ns" will become
+/// "ns:")
 void saveFbx(
     const filesystem::path& filename,
     const Character& character,
@@ -86,9 +99,21 @@ void saveFbx(
     double framerate = 120.0,
     bool saveMesh = false,
     const FBXCoordSystemInfo& coordSystemInfo = FBXCoordSystemInfo(),
-    bool permissive = false);
-
-// Permissive mode allows saving mesh-only characters (without skin weights).
+    bool permissive = false,
+    const std::vector<std::vector<Marker>>& markerSequence = {},
+    std::string_view fbxNamespace = "");
+
+/// Save a character with animation using joint parameters directly.
+/// @param filename Path to the output FBX file
+/// @param character The character to save
+/// @param jointParams Joint parameters for each frame (empty for bind pose only)
+/// @param framerate Animation framerate in frames per second
+/// @param saveMesh Whether to include mesh geometry in the output
+/// @param coordSystemInfo Coordinate system configuration for the FBX file
+/// @param permissive Permissive mode allows saving mesh-only characters (without skin weights)
+/// @param markerSequence Optional marker sequence data to save with the character
+/// @param fbxNamespace Optional namespace to prepend to all node names (e.g., "ns" will become
+/// "ns:")
 void saveFbxWithJointParams(
     const filesystem::path& filename,
     const Character& character,
@@ -96,14 +121,36 @@ void saveFbxWithJointParams(
     double framerate = 120.0,
     bool saveMesh = false,
     const FBXCoordSystemInfo& coordSystemInfo = FBXCoordSystemInfo(),
-    bool permissive = false);
-
-// A shorthand of saveFbx() to save both the skeleton and mesh as a model but without any animation
-// Permissive mode allows saving mesh-only characters (without skin weights).
+    bool permissive = false,
+    const std::vector<std::vector<Marker>>& markerSequence = {},
+    std::string_view fbxNamespace = "");
+
+/// Save a character model (skeleton and mesh) without animation.
+/// @param filename Path to the output FBX file
+/// @param character The character to save
+/// @param coordSystemInfo Coordinate system configuration for the FBX file
+/// @param permissive Permissive mode allows saving mesh-only characters (without skin weights)
+/// @param fbxNamespace Optional namespace to prepend to all node names (e.g., "ns" will become
+/// "ns:")
 void saveFbxModel(
     const filesystem::path& filename,
     const Character& character,
     const FBXCoordSystemInfo& coordSystemInfo = FBXCoordSystemInfo(),
-    bool permissive = false);
+    bool permissive = false,
+    std::string_view fbxNamespace = "");
+
+/// Loads a MarkerSequence from an FBX file.
+///
+/// This function reads motion capture marker data from an FBX file and returns
+/// it as a MarkerSequence. The markers must be stored in the FBX scene hierarchy
+/// under a "Markers" root node, and each marker node must have the custom property
+/// "Momentum_Marker" to be recognized. The Markers root node must have the custom
+/// property "Momentum_Markers_Root" to be identified.
+///
+/// @param[in] filename Path to the FBX file containing marker data.
+/// @return A MarkerSequence object containing the marker animation data, including
+///         marker positions per frame and fps. Returns an empty sequence if no
+///         markers or animations are found.
+MarkerSequence loadFbxMarkerSequence(const filesystem::path& filename);
 
 } // namespace momentum

include/momentum/io/fbx/fbx_memory_stream.h

@@ -9,7 +9,7 @@
 
 #include <fbxsdk.h>
 #include <fbxsdk/core/fbxstream.h>
-#include <gsl/span>
+#include <span>
 
 #include <string_view>
 
@@ -24,7 +24,7 @@ namespace momentum {
 // Simplest FbxStream to read file from a string_view memory buffer
 class FbxMemoryStream : public FbxStream {
  public:
-  FbxMemoryStream(gsl::span<const std::byte> buffer, int pReaderId);
+  FbxMemoryStream(std::span<const std::byte> buffer, int pReaderId);
   ~FbxMemoryStream() override;
   EState GetState() override;
   bool Open(void* pStreamData) override;
@@ -51,7 +51,7 @@ class FbxMemoryStream : public FbxStream {
   void ClearError() override;
 
  private:
-  gsl::span<const std::byte> buffer_;
+  std::span<const std::byte> buffer_;
   long length_;
 #if FBX_VERSION_GE(2020, 3, 2)
   mutable FbxInt64 position_{0};

include/momentum/io/fbx/openfbx_loader.h

@@ -8,14 +8,19 @@
 #pragma once
 
 #include <momentum/character/fwd.h>
+#include <momentum/character/marker.h>
 #include <momentum/common/filesystem.h>
 #include <momentum/io/fbx/fbx_io.h>
 #include <momentum/math/types.h>
 
-#include <gsl/span>
+#include <span>
 
 namespace momentum {
 
+// Custom property names for identifying Momentum-specific FBX nodes
+constexpr const char* kMomentumMarkersRootProperty = "Momentum_Markers_Root";
+constexpr const char* kMomentumMarkerProperty = "Momentum_Marker";
+
 // Using keepLocators means the Nulls in the transform hierarchy will be turned into Locators.
 // This is different from historical momentum behavior so it's off by default.
 // Permissive mode allows loading mesh-only characters (without skin weights).
@@ -27,7 +32,7 @@ Character loadOpenFbxCharacter(
 
 // Permissive mode allows loading mesh-only characters (without skin weights).
 Character loadOpenFbxCharacter(
-    gsl::span<const std::byte> inputData,
+    std::span<const std::byte> inputData,
     KeepLocators keepLocators = KeepLocators::No,
     bool permissive = false,
     LoadBlendShapes loadBlendShapes = LoadBlendShapes::No);
@@ -41,9 +46,11 @@ std::tuple<Character, std::vector<MatrixXf>, float> loadOpenFbxCharacterWithMoti
 
 // Permissive mode allows loading mesh-only characters (without skin weights).
 std::tuple<Character, std::vector<MatrixXf>, float> loadOpenFbxCharacterWithMotion(
-    gsl::span<const std::byte> inputData,
+    std::span<const std::byte> inputData,
     KeepLocators keepLocators = KeepLocators::No,
     bool permissive = false,
     LoadBlendShapes loadBlendShapes = LoadBlendShapes::No);
 
+MarkerSequence loadOpenFbxMarkerSequence(const filesystem::path& filename);
+
 } // namespace momentum

include/momentum/io/fbx/polygon_data.h

@@ -9,7 +9,7 @@
 
 #include <momentum/math/types.h>
 
-#include <gsl/span>
+#include <span>
 
 #include <string>
 #include <vector>
@@ -54,7 +54,7 @@ struct PolygonData {
 };
 
 std::vector<Eigen::Vector3i> triangulate(
-    gsl::span<const uint32_t> indices,
-    gsl::span<const uint32_t> offsets);
+    std::span<const uint32_t> indices,
+    std::span<const uint32_t> offsets);
 
 } // namespace momentum

include/momentum/io/gltf/gltf_builder.h

@@ -72,7 +72,7 @@ class GltfBuilder final {
   void addSkeletonStates(
       const Character& character,
       float fps,
-      gsl::span<const SkeletonState> skeletonStates,
+      std::span<const SkeletonState> skeletonStates,
       const std::string& customName = "default");
 
   /// Add marker data to the file
@@ -85,7 +85,7 @@ class GltfBuilder final {
   /// @param[in] animName Optional parameter specifying the animation name (default is "default").
   void addMarkerSequence(
       float fps,
-      gsl::span<const std::vector<momentum::Marker>> markerSequence,
+      std::span<const std::vector<momentum::Marker>> markerSequence,
       MarkerMesh markerMesh = MarkerMesh::None,
       const std::string& animName = "default");
 

include/momentum/io/gltf/gltf_io.h

@@ -14,7 +14,7 @@
 #include <momentum/math/types.h>
 
 #include <fx/gltf.h>
-#include <gsl/span>
+#include <span>
 
 #include <tuple>
 #include <vector>
@@ -33,7 +33,7 @@ Character loadGltfCharacter(const fx::gltf::Document& model);
 
 Character loadGltfCharacter(const filesystem::path& gltfFilename);
 
-Character loadGltfCharacter(gsl::span<const std::byte> byteSpan);
+Character loadGltfCharacter(std::span<const std::byte> byteSpan);
 
 std::tuple<MotionParameters, IdentityParameters, float> loadMotion(
     const filesystem::path& gltfFilename);
@@ -55,7 +55,7 @@ std::tuple<Character, MatrixXf, VectorXf, float> loadCharacterWithMotion(
 /// @return A tuple containing the loaded Character object, the motion represented in model
 /// parameters, the identity vector represented as joint parameters, and the fps.
 std::tuple<Character, MatrixXf, VectorXf, float> loadCharacterWithMotion(
-    gsl::span<const std::byte> byteSpan);
+    std::span<const std::byte> byteSpan);
 
 /// Load a GLTF Character with motion in the form of skeleton states (transform matrices)
 ///
@@ -63,7 +63,7 @@ std::tuple<Character, MatrixXf, VectorXf, float> loadCharacterWithMotion(
 /// file to be saved using momentum's functionality that saves model parameters in a
 /// custom GTLF extension, however the resulting skeleton states may be harder to work with.
 std::tuple<Character, std::vector<SkeletonState>, std::vector<float>>
-loadCharacterWithSkeletonStates(gsl::span<const std::byte> byteSpan);
+loadCharacterWithSkeletonStates(std::span<const std::byte> byteSpan);
 
 std::tuple<Character, std::vector<SkeletonState>, std::vector<float>>
 loadCharacterWithSkeletonStates(const filesystem::path& gltfFilename);
@@ -90,7 +90,7 @@ std::tuple<MatrixXf, VectorXf, float> loadMotionOnCharacter(
 /// represented as joint parameters, and the fps. The model parameters and joint parameters are
 /// mapped to the input character by name matching.
 std::tuple<MatrixXf, VectorXf, float> loadMotionOnCharacter(
-    gsl::span<const std::byte> byteSpan,
+    std::span<const std::byte> byteSpan,
     const Character& character);
 
 /// Loads a MarkerSequence from a file.
@@ -132,7 +132,7 @@ void saveCharacter(
     const filesystem::path& filename,
     const Character& Character,
     float fps,
-    gsl::span<const SkeletonState> skeletonStates,
+    std::span<const SkeletonState> skeletonStates,
     const std::vector<std::vector<Marker>>& markerSequence = {},
     GltfFileFormat fileFormat = GltfFileFormat::Extension,
     const GltfOptions& options = GltfOptions());

include/momentum/io/gltf/utils/accessor_utils.h

@@ -73,7 +73,7 @@ std::vector<T> copyAccessorBuffer(const fx::gltf::Document& model, int32_t id) {
   const auto stride = view.byteStride == 0 ? elsize : view.byteStride;
 
   const auto& buf = model.buffers[view.buffer];
-  auto bytes = gsl::as_bytes(gsl::make_span(buf.data));
+  auto bytes = std::as_bytes(std::span<const uint8_t>(buf.data));
   bytes = bytes.subspan(view.byteOffset, view.byteLength);
   bytes = bytes.subspan(accessor.byteOffset);
 
@@ -111,7 +111,7 @@ std::vector<T> copyAlignedAccessorBuffer(const fx::gltf::Document& model, int32_
   const auto stride = view.byteStride == 0 ? elsize : view.byteStride;
 
   const auto& buf = model.buffers[view.buffer];
-  auto bytes = gsl::as_bytes(gsl::make_span(buf.data));
+  auto bytes = std::as_bytes(std::span<const uint8_t>(buf.data));
   bytes = bytes.subspan(view.byteOffset, view.byteLength);
   bytes = bytes.subspan(accessor.byteOffset);
 
@@ -133,7 +133,7 @@ void setAccessorType(fx::gltf::Accessor& /* accessor */) {
 template <typename T>
 int32_t createAccessorBuffer(
     fx::gltf::Document& model,
-    gsl::span<T> data,
+    std::span<T> data,
     const bool align = false,
     const bool normalized = false) {
   // gltf 2.0 allows multiple buffers, but only the first buffer will be stored in
@@ -261,8 +261,8 @@ template <typename T>
 int32_t createSampler(
     fx::gltf::Document& model,
     fx::gltf::Animation& anim,
-    gsl::span<T> data,
-    const gsl::span<float>& timestamps) {
+    std::span<T> data,
+    const std::span<float>& timestamps) {
   MT_CHECK(
       data.size() == timestamps.size(), "data: {}, timestmaps: {}", data.size(), timestamps.size());
 
@@ -282,7 +282,7 @@ template <typename T>
 int32_t createSampler(
     fx::gltf::Document& model,
     fx::gltf::Animation& anim,
-    gsl::span<T> data,
+    std::span<T> data,
     const int32_t timestampAccessor) {
   // create new sampler
   const int32_t index = anim.samplers.size();

include/momentum/io/legacy_json/legacy_json_io.h

@@ -13,7 +13,7 @@
 #include <momentum/math/fwd.h>
 
 #include <nlohmann/json.hpp>
-#include <gsl/span>
+#include <span>
 #include <string>
 
 namespace momentum {
@@ -36,7 +36,7 @@ namespace momentum {
 /// @param[in] jsonBuffer Buffer containing the legacy JSON data
 /// @return The loaded Character object
 /// @throws std::runtime_error if the buffer cannot be parsed
-[[nodiscard]] Character loadCharacterFromLegacyJsonBuffer(gsl::span<const std::byte> jsonBuffer);
+[[nodiscard]] Character loadCharacterFromLegacyJsonBuffer(std::span<const std::byte> jsonBuffer);
 
 /// Loads a Character from a legacy JSON string.
 ///

include/momentum/io/marker/marker_io.h

@@ -51,6 +51,6 @@ namespace momentum {
 /// @return int The main subject's index in the input vector. If no main subject found, -1 is
 /// returned.
 /// @note This function is exposed mainly for unit tests.
-[[nodiscard]] int findMainSubjectIndex(gsl::span<const MarkerSequence> markerSequences);
+[[nodiscard]] int findMainSubjectIndex(std::span<const MarkerSequence> markerSequences);
 
 } // namespace momentum

include/momentum/io/motion/mmo_io.h

@@ -20,7 +20,7 @@ namespace momentum {
 /// @param character Character definition for parameter mapping
 void saveMmo(
     const std::string& filename,
-    gsl::span<const VectorXf> poses,
+    std::span<const VectorXf> poses,
     const VectorXf& scale,
     const Character& character);
 
@@ -38,7 +38,7 @@ void saveMmo(
     const VectorXf& scale,
     const Character& character,
     const MatrixXf& additionalParameters = MatrixXf(),
-    gsl::span<const std::string> additionalParameterNames = std::vector<std::string>());
+    std::span<const std::string> additionalParameterNames = std::vector<std::string>());
 
 /// Save motion data with explicit parameter and joint names
 ///
@@ -51,8 +51,8 @@ void saveMmo(
     const std::string& filename,
     const MatrixXf& poses,
     const VectorXf& scale,
-    gsl::span<const std::string> parameterNames,
-    gsl::span<const std::string> jointNames);
+    std::span<const std::string> parameterNames,
+    std::span<const std::string> jointNames);
 
 /// Load motion data from file
 ///
@@ -77,7 +77,7 @@ std::tuple<MatrixXf, VectorXf> loadMmo(const std::string& filename, const Charac
 /// @return Tuple of (auxiliary data matrix, auxiliary parameter names without underscores)
 std::tuple<MatrixXf, std::vector<std::string>> getAuxiliaryDataFromMotion(
     const MatrixXf& poses,
-    gsl::span<const std::string> parameterNames);
+    std::span<const std::string> parameterNames);
 
 /// Map motion data from one parameter space to character parameter space
 ///
@@ -90,8 +90,8 @@ std::tuple<MatrixXf, std::vector<std::string>> getAuxiliaryDataFromMotion(
 std::tuple<MatrixXf, VectorXf> mapMotionToCharacter(
     const MatrixXf& poses,
     const VectorXf& offsets,
-    gsl::span<const std::string> parameterNames,
-    gsl::span<const std::string> jointNames,
+    std::span<const std::string> parameterNames,
+    std::span<const std::string> jointNames,
     const Character& character);
 
 } // namespace momentum

include/momentum/io/skeleton/locator_io.h

@@ -11,7 +11,7 @@
 #include <momentum/character/locator.h>
 
 #include <momentum/common/filesystem.h>
-#include <gsl/span>
+#include <span>
 
 namespace momentum {
 
@@ -28,7 +28,7 @@ LocatorList loadLocators(
     const ParameterTransform& parameterTransform);
 
 LocatorList loadLocatorsFromBuffer(
-    gsl::span<const std::byte> rawData,
+    std::span<const std::byte> rawData,
     const Skeleton& skeleton,
     const ParameterTransform& parameterTransform);
 

include/momentum/io/skeleton/mppca_io.h

@@ -9,7 +9,7 @@
 
 #include <momentum/math/fwd.h>
 
-#include <gsl/span>
+#include <span>
 
 #include <istream>
 
@@ -19,7 +19,7 @@ std::shared_ptr<const Mppca> loadMppca(std::istream& inputStream);
 
 std::shared_ptr<const Mppca> loadMppca(const std::string& name);
 
-std::shared_ptr<const Mppca> loadMppca(gsl::span<const unsigned char> posePriorDataRaw);
+std::shared_ptr<const Mppca> loadMppca(std::span<const unsigned char> posePriorDataRaw);
 
 void saveMppca(const Mppca& mppca, const std::string& name);
 

include/momentum/io/skeleton/parameter_transform_io.h

@@ -11,7 +11,7 @@
 #include <momentum/character/parameter_transform.h>
 #include <momentum/common/filesystem.h>
 
-#include <gsl/span>
+#include <span>
 
 #include <string>
 #include <unordered_map>
@@ -21,7 +21,7 @@ namespace momentum {
 std::unordered_map<std::string, std::string> loadMomentumModel(const filesystem::path& filename);
 
 std::unordered_map<std::string, std::string> loadMomentumModelFromBuffer(
-    gsl::span<const std::byte> buffer);
+    std::span<const std::byte> buffer);
 
 ParameterTransform parseParameterTransform(const std::string& data, const Skeleton& skeleton);
 
@@ -35,7 +35,7 @@ std::tuple<ParameterTransform, ParameterLimits> loadModelDefinition(
     const Skeleton& skeleton);
 
 std::tuple<ParameterTransform, ParameterLimits> loadModelDefinition(
-    gsl::span<const std::byte> rawData,
+    std::span<const std::byte> rawData,
     const Skeleton& skeleton);
 
 } // namespace momentum

include/momentum/io/urdf/urdf_io.h

@@ -11,16 +11,16 @@
 #include <momentum/common/filesystem.h>
 #include <momentum/math/types.h>
 
-#include <gsl/span>
+#include <span>
 
 namespace momentum {
 
 /// Loads a character from a URDF file.
 template <typename T = float>
-[[nodiscard]] CharacterT<T> loadUrdfCharacter(const filesystem::path& filepath);
+CharacterT<T> loadUrdfCharacter(const filesystem::path& filepath);
 
 /// Loads a character from a URDF file using the provided byte data.
 template <typename T = float>
-[[nodiscard]] CharacterT<T> loadUrdfCharacter(gsl::span<const std::byte> bytes);
+[[nodiscard]] CharacterT<T> loadUrdfCharacter(std::span<const std::byte> bytes);
 
 } // namespace momentum

include/momentum/io/usd/usd_io.h

@@ -11,7 +11,7 @@
 #include <momentum/common/filesystem.h>
 #include <momentum/math/types.h>
 
-#include <gsl/span>
+#include <span>
 
 namespace momentum {
 
@@ -25,7 +25,7 @@ Character loadUsdCharacter(const filesystem::path& inputPath);
 ///
 /// @param[in] inputSpan The buffer containing the USD character data.
 /// @return The loaded Character object.
-Character loadUsdCharacter(gsl::span<const std::byte> inputSpan);
+Character loadUsdCharacter(std::span<const std::byte> inputSpan);
 
 /// Save a character to a USD file.
 ///

include/momentum/marker_tracking/app_utils.h

@@ -55,7 +55,7 @@ void saveMotion(
     const momentum::Character& character,
     const momentum::ModelParameters& identity,
     Eigen::MatrixXf& finalMotion,
-    gsl::span<const std::vector<momentum::Marker>> markerData,
+    std::span<const std::vector<momentum::Marker>> markerData,
     double fps,
     bool saveMarkerMesh = true);
 

include/momentum/marker_tracking/marker_tracker.h

@@ -91,7 +91,7 @@ struct RefineConfig : public TrackingConfig {
 /// @return The solved motion. It has the same length as markerData. It repeats the same solved pose
 /// within a frame stride.
 Eigen::MatrixXf trackSequence(
-    gsl::span<const std::vector<momentum::Marker>> markerData,
+    std::span<const std::vector<momentum::Marker>> markerData,
     const momentum::Character& character,
     const momentum::ParameterSet& globalParams,
     const Eigen::MatrixXf& initialMotion,
@@ -119,7 +119,7 @@ Eigen::MatrixXf trackSequence(
 /// @return The solved motion. It has the same length as markerData. It repeats the same solved pose
 /// within a frame stride.
 Eigen::MatrixXf trackSequence(
-    gsl::span<const std::vector<momentum::Marker>> markerData,
+    std::span<const std::vector<momentum::Marker>> markerData,
     const momentum::Character& character,
     const momentum::ParameterSet& globalParams,
     const Eigen::MatrixXf& initialMotion,
@@ -141,7 +141,7 @@ Eigen::MatrixXf trackSequence(
 /// @return The solved motion. It has the same length as markerData. It repeats the same solved pose
 /// within a frame stride.
 Eigen::MatrixXf trackPosesPerframe(
-    gsl::span<const std::vector<momentum::Marker>> markerData,
+    std::span<const std::vector<momentum::Marker>> markerData,
     const momentum::Character& character,
     const momentum::ModelParameters& globalParams,
     const TrackingConfig& config,
@@ -159,7 +159,7 @@ Eigen::MatrixXf trackPosesPerframe(
 /// @return The solved motion. It has the same length as markerData. It repeats the same solved pose
 /// within a frame stride.
 Eigen::MatrixXf trackPosesForFrames(
-    gsl::span<const std::vector<momentum::Marker>> markerData,
+    std::span<const std::vector<momentum::Marker>> markerData,
     const momentum::Character& character,
     const Eigen::MatrixXf& initialMotion,
     const TrackingConfig& config,
@@ -174,7 +174,7 @@ Eigen::MatrixXf trackPosesForFrames(
 /// @param[in,out] identity Initial identity parameters that get updated in return. It could also
 /// hold the pose of the first frame for better initialization for tracking later.
 void calibrateModel(
-    gsl::span<const std::vector<momentum::Marker>> markerData,
+    std::span<const std::vector<momentum::Marker>> markerData,
     const CalibrationConfig& config,
     momentum::Character& character,
     momentum::ModelParameters& identity);
@@ -188,13 +188,13 @@ void calibrateModel(
 /// updated in return. We overwrite the locators in the input character so we don't have to
 /// duplicate the character object inside the function.
 void calibrateLocators(
-    gsl::span<const std::vector<momentum::Marker>> markerData,
+    std::span<const std::vector<momentum::Marker>> markerData,
     const CalibrationConfig& config,
     const momentum::ModelParameters& identity,
     momentum::Character& character);
 
 Eigen::MatrixXf refineMotion(
-    gsl::span<const std::vector<momentum::Marker>> markerData,
+    std::span<const std::vector<momentum::Marker>> markerData,
     const Eigen::MatrixXf& motion,
     const RefineConfig& config,
     momentum::Character& character);
@@ -206,7 +206,7 @@ Eigen::MatrixXf refineMotion(
 /// @param[in] character Character definition
 /// @return average per frame error and max marker error
 std::pair<float, float> getLocatorError(
-    gsl::span<const std::vector<momentum::Marker>> markerData,
+    std::span<const std::vector<momentum::Marker>> markerData,
     const Eigen::MatrixXf& motion,
     momentum::Character& character);
 

include/momentum/marker_tracking/tracker_utils.h

@@ -16,11 +16,11 @@
 namespace momentum {
 
 std::vector<std::vector<momentum::PositionData>> createConstraintData(
-    gsl::span<const std::vector<momentum::Marker>> markerData,
+    std::span<const std::vector<momentum::Marker>> markerData,
     const momentum::LocatorList& locators);
 
 std::vector<std::vector<momentum::SkinnedLocatorConstraint>> createSkinnedConstraintData(
-    gsl::span<const std::vector<momentum::Marker>> markerData,
+    std::span<const std::vector<momentum::Marker>> markerData,
     const momentum::SkinnedLocatorList& locators);
 
 // TODO: remove the one in momentum

include/momentum/math/mppca.h

@@ -47,7 +47,7 @@ struct MppcaT {
   void set(
       const VectorX<T>& pi,
       const MatrixX<T>& mmu,
-      gsl::span<const MatrixX<T>> W,
+      std::span<const MatrixX<T>> W,
       const VectorX<T>& sigma2);
 
   /// Converts to a different scalar type