Dehann Fourie

Oh very cool! I noticed StaticCompiler the other day but wasn't exactly sure how it fit in alongside PackageCompiler. The Discourse post answers that :-) Thanks for sharing! Want to...

It either already is, or should be, possible to just attach a "lesser" factor to a "bigger" variable. For example: ```julia using RoME # or Caesar fg = initfg() addVariable!(fg,...

This can be resolved by better using the existing `partials` infrastructure already in code. The challenge in this case is that we would need to do partial convolutions, where the...

existing partial poses include, https://github.com/JuliaRobotics/RoME.jl/blob/41fbf739de96014f4f2014d2d2d2cde0a8e3876e/src/factors/PartialPose3.jl

also see: https://github.com/JuliaRobotics/RoME.jl/blob/41fbf739de96014f4f2014d2d2d2cde0a8e3876e/test/testpartialpose3.jl


Wip: - https://github.com/JuliaRobotics/Caesar.jl/pull/874

Common rigid transform function for _PCL and ScatterAlign, working torwards Pose3: - https://github.com/JuliaRobotics/Caesar.jl/pull/878

Further work for ScatterAlignPose3: - https://github.com/JuliaRobotics/Caesar.jl/pull/879

Just adding reference alignment solution from completeness: - http://www.open3d.org/docs/release/tutorial/t_pipelines/t_icp_registration.html?highlight=icp#Multi-Scale-ICP-Example - http://www.open3d.org/docs/release/tutorial/t_pipelines/t_icp_registration.html?highlight=icp#Point-To-Point-ICP-Registration