Arun Das

You can go ahead an implement with Eigen or transformation of your choice. Once transformations are merged we can go back and change it to a wave::Transformation

Markdown page with discussion can be found here: https://github.com/wavelab/libwave/blob/issue_33_geometry_notation/docs/ref/geometry/geometry_notation.md

Need to remove g2o specific functions in chainbundle.cpp and replace with gtsam equivalent calls