Johannes Terblanche

> Rabbit Hole... I was also looking at `TransformUtils.jl` and wondering the same thing about the different representations. A `Lazy` implementation would be great since it seems we can avoid...

@dehann, I would think all Manifold types and operations related to rigid transformations that are currently in `TransformUtils.jl` so an overly verbose name could be: `LazyRigidTransformationManifolds.jl` Thanks, @mateuszbaran, I'll have...

Sure, Thanks

Hi Leo, I can point you to the code where it is added: https://github.com/JuliaRobotics/IncrementalInference.jl/blob/4ac8ccda4f27d8834950ad6a1913851031932add/src/ApproxConv.jl#L228-L239 Sorry, I can't help you more than that. My understanding is it only spreads that is...

Hi Tim, I used your dataset to test the batch parametric solver `IIF.solveGraphParametric!` and as a sanity check if it's correct. Here are the results:  It's sensitive to initialization,...

In the above case, initalization (and possibly solving) can be improved by tuning 2 solver parameters. ```julia fg = initfg() fg.solverParams.inflateCycles = ... #default 3 fg.solverParams.inflation = ... #default 5.0...

Is a check needed now that IIF can solve disconnected graphs?

https://discourse.julialang.org/t/successful-static-compilation-of-julia-code-for-use-in-production/79318

In the julia wrapper the memory is managed by julia and freeing it in the `orthogonal_iteration` function causes a segfault. So it's not about the cost.

Note, I call `orthogonal_iteration` directly to save on converting between julia and c types.