Mathematical Cookbooks (workspace crates)

The deep mathematical derivations live with the crates they document, as mdBook cookbooks rendered with KaTeX:

• apex-manifolds cookbook — conventions, exponential/log maps, Jacobians and adjoints for SO(2), SO(3), SE(2), SE(3), SE₂(3), SGal(3), Sim(3) and ℝⁿ.
• apex-camera-models cookbook — projection and unprojection derivations for the supported camera models.
• apex-io cookbook — file-format details for G2O, TORO and BAL.

The published site (this one) aggregates them:

• apex-manifolds cookbook (after the Pages deployment)
• apex-camera-models cookbook
• apex-io cookbook