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<li class="toctree-l3"><a class="reference internal" href="api/symforce.cam.atan_camera_cal.html">symforce.cam.atan_camera_cal module</a></li>
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<p class="caption" role="heading"><span class="caption-text">sym Python Reference</span></p>
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<li class="toctree-l4"><a class="reference internal" href="api-gen-py/sym.ops.atan_camera_cal.lie_group_ops.html">sym.ops.atan_camera_cal.lie_group_ops module</a></li>
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<li class="toctree-l3 has-children"><a class="reference internal" href="api-gen-py/sym.ops.double_sphere_camera_cal.html">sym.ops.double_sphere_camera_cal package</a><input class="toctree-checkbox" id="toctree-checkbox-34" name="toctree-checkbox-34" role="switch" type="checkbox"/><label for="toctree-checkbox-34"><div class="visually-hidden">Toggle navigation of sym.ops.double_sphere_camera_cal package</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
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<li class="toctree-l3 has-children"><a class="reference internal" href="api-gen-py/sym.ops.polynomial_camera_cal.html">sym.ops.polynomial_camera_cal package</a><input class="toctree-checkbox" id="toctree-checkbox-37" name="toctree-checkbox-37" role="switch" type="checkbox"/><label for="toctree-checkbox-37"><div class="visually-hidden">Toggle navigation of sym.ops.polynomial_camera_cal package</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-py/sym.atan_camera_cal.html">sym.atan_camera_cal module</a></li>
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<p class="caption" role="heading"><span class="caption-text">sym C++ Reference</span></p>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1ATANCameraCal.html">Class sym::ATANCameraCal</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1DoubleSphereCameraCal.html">Class sym::DoubleSphereCameraCal</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1LinearCameraCal.html">Class sym::LinearCameraCal</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1PolynomialCameraCal.html">Class sym::PolynomialCameraCal</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1Pose2.html">Class sym::Pose2</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/class/classsym_1_1SphericalCameraCal.html">Class sym::SphericalCameraCal</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/pose2_8cc.html">File pose2.cc</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/rot2_2group__ops_8h.html">File group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/rot2_2lie__group__ops_8cc.html">File lie_group_ops.cc</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/rot3_2group__ops_8h.html">File group_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/rot3_2lie__group__ops_8cc.html">File lie_group_ops.cc</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/rot3_2storage__ops_8h.html">File storage_ops.h</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/scalar_2group__ops_8cc.html">File group_ops.cc</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/scalar_2storage__ops_8h.html">File storage_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/spherical__camera__cal_2group__ops_8cc.html">File group_ops.cc</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/spherical__camera__cal_2storage__ops_8cc.html">File storage_ops.cc</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/spherical__camera__cal_8h.html">File spherical_camera_cal.h</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/storage__ops_8h.html">File storage_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/type__ops_8h.html">File type_ops.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-gen-cpp/file/typedefs_8h.html">File typedefs.h</a></li>
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<p class="caption" role="heading"><span class="caption-text">opt C++ Reference</span></p>
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<li class="toctree-l2"><a class="reference internal" href="api-cpp/class/classsym_1_1DenseCholeskySolver.html">Class sym::DenseCholeskySolver</a></li>
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<li class="toctree-l2"><a class="reference internal" href="api-cpp/class/classsym_1_1EigenSparseSolver.html">Class sym::EigenSparseSolver</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/class/classsym_1_1Factor.html">Class sym::Factor</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/class/classsym_1_1GncOptimizer.html">Class sym::GncOptimizer</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/class/classsym_1_1ImuFactor.html">Class sym::ImuFactor</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/class/classsym_1_1ImuPreintegrator.html">Class sym::ImuPreintegrator</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/class/classsym_1_1ImuWithGravityDirectionFactor.html">Class sym::ImuWithGravityDirectionFactor</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/class/classsym_1_1ImuWithGravityFactor.html">Class sym::ImuWithGravityFactor</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/class/classsym_1_1Interpolator.html">Class sym::Interpolator</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/class/classsym_1_1Key.html">Class sym::Key</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/class/classsym_1_1LevenbergMarquardtSolver.html">Class sym::LevenbergMarquardtSolver</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/class/classsym_1_1Linearizer.html">Class sym::Linearizer</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/class/classsym_1_1Optimizer.html">Class sym::Optimizer</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/class/classsym_1_1SparseCholeskySolver.html">Class sym::SparseCholeskySolver</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/class/classsym_1_1SparseSchurSolver.html">Class sym::SparseSchurSolver</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/class/classsym_1_1Values.html">Class sym::Values</a></li>
</ul>
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<li class="toctree-l1 has-children"><a class="reference internal" href="api-cpp/filelist.html">File list</a><input class="toctree-checkbox" id="toctree-checkbox-47" name="toctree-checkbox-47" role="switch" type="checkbox"/><label for="toctree-checkbox-47"><div class="visually-hidden">Toggle navigation of File list</div><i class="icon"><svg><use href="#svg-arrow-right"></use></svg></i></label><ul>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/assert_8h.html">File assert.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/dense__cholesky__solver_8h.html">File dense_cholesky_solver.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/dense__linearizer_8h.html">File dense_linearizer.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/dump__graph_8h.html">File dump_graph.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/eigen__sparse__solver_8h.html">File eigen_sparse_solver.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/factor_8h.html">File factor.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/gnc__optimizer_8h.html">File gnc_optimizer.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/imu__factor_8h.html">File imu_factor.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/imu__preintegrator_8h.html">File imu_preintegrator.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/key_8h.html">File key.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/levenberg__marquardt__solver_8h.html">File levenberg_marquardt_solver.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/linearization_8h.html">File linearization.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/linearizer_8h.html">File linearizer.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/optimization__stats_8h.html">File optimization_stats.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/optimizer_8h.html">File optimizer.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/optional_8h.html">File optional.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/preintegrated__imu__measurements_8h.html">File preintegrated_imu_measurements.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/sparse__cholesky__solver_8h.html">File sparse_cholesky_solver.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/sparse__schur__solver_8h.html">File sparse_schur_solver.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/templates_8h.html">File templates.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/tic__toc_8h.html">File tic_toc.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/util_8h.html">File util.h</a></li>
<li class="toctree-l2"><a class="reference internal" href="api-cpp/file/values_8h.html">File values.h</a></li>
</ul>
</li>
</ul>
<p class="caption" role="heading"><span class="caption-text">Project Links</span></p>
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<li class="toctree-l1"><a class="reference external" href="https://github.com/symforce-org/symforce">GitHub</a></li>
<li class="toctree-l1"><a class="reference external" href="https://pypi.org/project/symforce">PyPI</a></li>
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<article role="main">
<section class="domainindex-section">
<h1>Python Module Index</h1>
<div class="domainindex-jumpbox"><a href="#cap-b"><strong>b</strong></a> | <a href="#cap-c"><strong>c</strong></a> | <a href="#cap-d"><strong>d</strong></a> | <a href="#cap-e"><strong>e</strong></a> | <a href="#cap-g"><strong>g</strong></a> | <a href="#cap-i"><strong>i</strong></a> | <a href="#cap-j"><strong>j</strong></a> | <a href="#cap-l"><strong>l</strong></a> | <a href="#cap-n"><strong>n</strong></a> | <a href="#cap-o"><strong>o</strong></a> | <a href="#cap-p"><strong>p</strong></a> | <a href="#cap-s"><strong>s</strong></a> | <a href="#cap-t"><strong>t</strong></a> | <a href="#cap-u"><strong>u</strong></a> | <a href="#cap-v"><strong>v</strong></a></div>
</section>
<table class="domainindex-table">
<tr class="pcap">
<td></td><td> </td><td></td>
</tr>
<tr class="cap" id="cap-b">
<td></td><td><strong>b</strong></td><td></td>
</tr>
<tr>
<td><img src="_static/minus.png" class="toggler"
id="toggle-1" style="display: none" alt="-" /></td>
<td>
<a href="api/symforce.benchmarks.html#module-symforce.benchmarks"><code class="xref">symforce.benchmarks</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-1">
<td></td>
<td>   
<a href="api/symforce.benchmarks.inverse_compose_jacobian.html#module-symforce.benchmarks.inverse_compose_jacobian"><code class="xref">symforce.benchmarks.inverse_compose_jacobian</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-1">
<td></td>
<td>   
<a href="api/symforce.benchmarks.inverse_compose_jacobian.generate_inverse_compose_jacobian.html#module-symforce.benchmarks.inverse_compose_jacobian.generate_inverse_compose_jacobian"><code class="xref">symforce.benchmarks.inverse_compose_jacobian.generate_inverse_compose_jacobian</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-1">
<td></td>
<td>   
<a href="api/symforce.benchmarks.matrix_multiplication.html#module-symforce.benchmarks.matrix_multiplication"><code class="xref">symforce.benchmarks.matrix_multiplication</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-1">
<td></td>
<td>   
<a href="api/symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark.html#module-symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark"><code class="xref">symforce.benchmarks.matrix_multiplication.generate_matrix_multiplication_benchmark</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-1">
<td></td>
<td>   
<a href="api/symforce.benchmarks.robot_3d_localization.html#module-symforce.benchmarks.robot_3d_localization"><code class="xref">symforce.benchmarks.robot_3d_localization</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-1">
<td></td>
<td>   
<a href="api/symforce.benchmarks.run_benchmarks.html#module-symforce.benchmarks.run_benchmarks"><code class="xref">symforce.benchmarks.run_benchmarks</code></a></td><td>
<em></em></td>
</tr>
<tr class="pcap">
<td></td><td> </td><td></td>
</tr>
<tr class="cap" id="cap-c">
<td></td><td><strong>c</strong></td><td></td>
</tr>
<tr>
<td></td>
<td>
<a href="symforce.cc_sym.html#module-cc_sym"><code class="xref">cc_sym</code></a></td><td>
<em></em></td>
</tr>
<tr>
<td><img src="_static/minus.png" class="toggler"
id="toggle-2" style="display: none" alt="-" /></td>
<td>
<a href="api/symforce.cam.html#module-symforce.cam"><code class="xref">symforce.cam</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-2">
<td></td>
<td>   
<a href="api/symforce.cam.atan_camera_cal.html#module-symforce.cam.atan_camera_cal"><code class="xref">symforce.cam.atan_camera_cal</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-2">
<td></td>
<td>   
<a href="api/symforce.cam.camera.html#module-symforce.cam.camera"><code class="xref">symforce.cam.camera</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-2">
<td></td>
<td>   
<a href="api/symforce.cam.camera_cal.html#module-symforce.cam.camera_cal"><code class="xref">symforce.cam.camera_cal</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-2">
<td></td>
<td>   
<a href="api/symforce.cam.camera_util.html#module-symforce.cam.camera_util"><code class="xref">symforce.cam.camera_util</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-2">
<td></td>
<td>   
<a href="api/symforce.cam.double_sphere_camera_cal.html#module-symforce.cam.double_sphere_camera_cal"><code class="xref">symforce.cam.double_sphere_camera_cal</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-2">
<td></td>
<td>   
<a href="api/symforce.cam.equirectangular_camera_cal.html#module-symforce.cam.equirectangular_camera_cal"><code class="xref">symforce.cam.equirectangular_camera_cal</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-2">
<td></td>
<td>   
<a href="api/symforce.cam.linear_camera_cal.html#module-symforce.cam.linear_camera_cal"><code class="xref">symforce.cam.linear_camera_cal</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-2">
<td></td>
<td>   
<a href="api/symforce.cam.polynomial_camera_cal.html#module-symforce.cam.polynomial_camera_cal"><code class="xref">symforce.cam.polynomial_camera_cal</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-2">
<td></td>
<td>   
<a href="api/symforce.cam.posed_camera.html#module-symforce.cam.posed_camera"><code class="xref">symforce.cam.posed_camera</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-2">
<td></td>
<td>   
<a href="api/symforce.cam.spherical_camera_cal.html#module-symforce.cam.spherical_camera_cal"><code class="xref">symforce.cam.spherical_camera_cal</code></a></td><td>
<em></em></td>
</tr>
<tr>
<td><img src="_static/minus.png" class="toggler"
id="toggle-3" style="display: none" alt="-" /></td>
<td>
<a href="api/symforce.codegen.html#module-symforce.codegen"><code class="xref">symforce.codegen</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-3">
<td></td>
<td>   
<a href="api/symforce.codegen.backends.html#module-symforce.codegen.backends"><code class="xref">symforce.codegen.backends</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-3">
<td></td>
<td>   
<a href="api/symforce.codegen.backends.cpp.html#module-symforce.codegen.backends.cpp"><code class="xref">symforce.codegen.backends.cpp</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-3">
<td></td>
<td>   
<a href="api/symforce.codegen.backends.cpp.cpp_code_printer.html#module-symforce.codegen.backends.cpp.cpp_code_printer"><code class="xref">symforce.codegen.backends.cpp.cpp_code_printer</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-3">
<td></td>
<td>   
<a href="api/symforce.codegen.backends.cpp.cpp_config.html#module-symforce.codegen.backends.cpp.cpp_config"><code class="xref">symforce.codegen.backends.cpp.cpp_config</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-3">
<td></td>
<td>   
<a href="api/symforce.codegen.backends.cuda.html#module-symforce.codegen.backends.cuda"><code class="xref">symforce.codegen.backends.cuda</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-3">
<td></td>
<td>   
<a href="api/symforce.codegen.backends.cuda.cuda_code_printer.html#module-symforce.codegen.backends.cuda.cuda_code_printer"><code class="xref">symforce.codegen.backends.cuda.cuda_code_printer</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-3">
<td></td>
<td>   
<a href="api/symforce.codegen.backends.cuda.cuda_config.html#module-symforce.codegen.backends.cuda.cuda_config"><code class="xref">symforce.codegen.backends.cuda.cuda_config</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-3">
<td></td>
<td>   
<a href="api/symforce.codegen.backends.python.html#module-symforce.codegen.backends.python"><code class="xref">symforce.codegen.backends.python</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-3">
<td></td>
<td>   
<a href="api/symforce.codegen.backends.python.python_code_printer.html#module-symforce.codegen.backends.python.python_code_printer"><code class="xref">symforce.codegen.backends.python.python_code_printer</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-3">
<td></td>
<td>   
<a href="api/symforce.codegen.backends.python.python_config.html#module-symforce.codegen.backends.python.python_config"><code class="xref">symforce.codegen.backends.python.python_config</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-3">
<td></td>
<td>   
<a href="api/symforce.codegen.backends.pytorch.html#module-symforce.codegen.backends.pytorch"><code class="xref">symforce.codegen.backends.pytorch</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-3">
<td></td>
<td>   
<a href="api/symforce.codegen.backends.pytorch.pytorch_code_printer.html#module-symforce.codegen.backends.pytorch.pytorch_code_printer"><code class="xref">symforce.codegen.backends.pytorch.pytorch_code_printer</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-3">
<td></td>
<td>   
<a href="api/symforce.codegen.backends.pytorch.pytorch_config.html#module-symforce.codegen.backends.pytorch.pytorch_config"><code class="xref">symforce.codegen.backends.pytorch.pytorch_config</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-3">
<td></td>
<td>   
<a href="api/symforce.codegen.codegen.html#module-symforce.codegen.codegen"><code class="xref">symforce.codegen.codegen</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-3">
<td></td>
<td>   
<a href="api/symforce.codegen.codegen_config.html#module-symforce.codegen.codegen_config"><code class="xref">symforce.codegen.codegen_config</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-3">
<td></td>
<td>   
<a href="api/symforce.codegen.codegen_util.html#module-symforce.codegen.codegen_util"><code class="xref">symforce.codegen.codegen_util</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-3">
<td></td>
<td>   
<a href="api/symforce.codegen.format_util.html#module-symforce.codegen.format_util"><code class="xref">symforce.codegen.format_util</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-3">
<td></td>
<td>   
<a href="api/symforce.codegen.geo_factors_codegen.html#module-symforce.codegen.geo_factors_codegen"><code class="xref">symforce.codegen.geo_factors_codegen</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-3">
<td></td>
<td>   
<a href="api/symforce.codegen.geo_package_codegen.html#module-symforce.codegen.geo_package_codegen"><code class="xref">symforce.codegen.geo_package_codegen</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-3">
<td></td>
<td>   
<a href="api/symforce.codegen.lcm_types_codegen.html#module-symforce.codegen.lcm_types_codegen"><code class="xref">symforce.codegen.lcm_types_codegen</code></a></td><td>
<em></em></td>
</tr>
<tr class="cg-3">
<td></td>
<td>