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  • Welcome to POPCOR!
  • Quick Start Guide
    • Installation
    • Problem Formulation
      • Example: instantiating and using lifter
    • SDP Relaxation
      • Example: solving the QCQP using rank relaxation
    • AutoTight Method
      • Example: tightening the SDP relaxation using AutoTight
    • AutoTemplate Method
      • Example: tightening a different problem using AutoTemplate
    • References
  • API and modules
    • Core Algorithms
      • AutoTight
        • AutoTight
      • AutoTemplate
        • AutoTemplate
    • Base Lifters
      • Overview
      • Basics
      • StateLifter
        • StateLifter
      • StereoLifter
        • StereoLifter
      • RobustPoseLifter
        • RobustPoseLifter
      • RangeOnlyLifter
        • RangeOnlyLifter
      • PolyLifter
        • PolyLifter
    • Utils
      • Constraints and templates
        • Constraint
      • Helpers for matrix and vector operations
        • create_symmetric()
        • diag_indices()
        • get_vec()
        • ravel_multi_index_triu()
        • unravel_multi_index_triu()
        • upper_triangular()
  • Examples
    • 1. Templates
      • 1.1. Example for AutoTight
        • ExampleLifter
      • 1.2. Example for AutoTemplate
    • 2. Toy Examples
      • 2.1. Univariate Polynomials
        • Poly4Lifter
        • Poly6Lifter
      • 2.2. Other Toy Examples
        • Stereo1DLifter
    • 3. Standard Estimation Problems
      • 3.1. Range-Only Localization
        • RangeOnlySqLifter
        • RangeOnlyNsqLifter
      • 3.2. Stereo-Camera Localization
        • Stereo2DLifter
        • Stereo3DLifter
      • 3.3. Rotation Averaging
        • RotationLifter
    • 4. Robust Estimation Problems
      • 4.1. Robust Registration Problems
        • MonoLifter
        • WahbaLifter
  • What’s new
    • Change Log
      • [Unreleased] – YYYY-MM-DD
        • Added
        • Changed
        • Fixed
      • [0.0.2] - 2025-06-04
        • Added
        • Removed
        • Fixed
      • [0.0.1] - 2025-05-25
  • Contributing
    • How to contribute to POPR
      • General guidelines
      • Adding a new lifter class
      • Adding new functionalities
      • Resources
        • Testing
        • Setting up mosek license on server
        • Testing Github actions locally
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