Frequently asked questions

1. Why is the project called wrenfold? The name is derived by combining wren (a cute bird) with “fold” - as in manifold, a mathematical concept.

2. Why did you make this? I work on a mixture of computer vision and state estimation problems. The symbolic code generation workflow is well suited to these domains, and can meaningfully improve iteration time for experimenting with new algorithms or parameterizations. The SymForce paper outlines the core concept, but I felt as though there were areas that the implementation could be expanded and rendered more powerful.

3. I found a bug, what should I do? Please consider filing a bug.