Cite

wave_geometry is described in a conference paper:

@inproceedings{koppel2018manifold,
  title={Manifold Geometry with Fast Automatic Derivatives and Coordinate Frame Semantics Checking in {C++}},
  author={Koppel, Leonid and Waslander, Steven L.},
  booktitle={15th Conference on Computer and Robot Vision (CRV)},
  year={2018},
  note = {to be published}
}