symforce

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For an education purpose, from-scratch, single-file, python-only pose-graph optimization implementation

codegen slam rotation jacobian gtsam gauss-newton pgo initialization pose-graph-optimization cholmod chordal-distance symforce

Symbolic Continuous-Time Gaussian Belief Propagation Framework with Ceres Interoperability

IMU Preintegration using Symforce

imu slam gtsam preintegration symforce

Pose Graph Optimzation using SymForce

Reproducible demo: Pose2_SE2 round-trip Hessian behavior near the SE(2) singularity in SymForce.

python robotics lie-groups state-estimation se2 numerical-analysis symforce

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