symforce-org/symforce

Health v2 · maintenance only

Adoption not part of the score

1636 stars · 177 forks observed · 2026-08-28

What it is AI-extracted, prompt v1, taxonomy v1, 2026-08-30, confidence not recorded

SymForce is a Python/C++ library for fast symbolic computation, code generation, and tangent-space nonlinear optimization aimed at robotics applications. It combines a SymPy-based symbolic toolkit with Lie group calculus, a code generator targeting C++/CUDA/Python, and a factor-graph-based optimizer used in production for SLAM, bundle adjustment, calibration, and MPC.

Use cases

• generate fast C++ code for camera and geometry residuals
• compute tangent-space Jacobians automatically for SLAM factors
• solve bundle adjustment and structure-from-motion problems
• implement sparse nonlinear MPC for autonomous robots
• perform camera calibration with symbolic models
• build factor-graph state estimation for robot localization
• prototype optimization problems in Python and deploy to C++

When to choose

• you need real-time nonlinear optimization for robotics with auto-generated derivatives
• you want symbolic modeling with rigorous Lie group and camera geometry types
• you need branchless, dependency-light generated code in C++ or other target languages
• you work on SLAM, calibration, or motion planning at scale

When to avoid

• you need a general-purpose CAS without robotics focus
• your optimization problems are not expressible as factor graphs
• you need a pure-Python solution with no codegen step
• you require mature support for languages beyond the provided backends

Facets

library · maturity active

machine-learning compiler math simulation robotics computer-vision autonomous-vehicles developer-tools python cpp cross-platform symbolic-computation lie-groups nonlinear-optimization factor-graphs slam bundle-adjustment state-estimation motion-planning jacobians codegen code-generation algorithms linux macos

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