apex-solver 1.5.0

High-performance nonlinear least squares optimization with Lie group support for SLAM and bundle adjustment
Documentation 
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//! Camera factors: monocular and stereo reprojection, inverse-depth and
//! homogeneous landmark parameterizations, epipolar geometry, and
//! structure-less smart projection.

pub mod depth;
pub mod essential_matrix;
pub mod extrinsic_projection;
pub mod homogeneous_point;
pub mod inverse_depth;
pub mod projection;
pub mod smart_projection;
pub mod stereo;
pub mod time_offset_projection;

pub use depth::{DepthFactor, OneSidedDepthFactor, RegularDepthFactor};
pub use essential_matrix::{EssentialMatrixConstraint, EssentialMatrixFactor};
pub use extrinsic_projection::ExtrinsicProjectionFactor;
pub use homogeneous_point::HomogeneousPointFactor;
pub use inverse_depth::InverseDepthFactor;
pub use projection::{OptimizationConfig, ProjectionFactor};
pub use smart_projection::{SmartProjectionFactor, TriangulationStatus};
pub use stereo::{StereoCalibration, StereoFactor, StereoPoint2};
pub use time_offset_projection::TimeOffsetProjectionFactor;

#[cfg(test)]
mod extrinsic_tests;