François Pomerleau

Clearly not, but I would highly appreciate it ;)

We starting to work on Python binding. If someone has some inputs, advices or needs. Now is the time to tell us!

Thanks for the thorough analysis. I guess we can start with AutoWIG. @simonpierredeschenes any concerns?

Thanks a lot @wlav ! Your inputs are much appreciated. We will continue our analysis, but I guess we need to do some quick tests with those tools to understand...

I agree with the idea. It might break few things along the way (people building there own point cloud). Maybe keep it backward compatible?

ok to test

I'm 100 % sure, but it might be from here : https://arxiv.org/pdf/1410.7632.pdf but the math are from here: https://www.researchgate.net/publication/276269511_A_Closed-form_Estimate_of_3D_ICP_Covariance But, that's on top of my head. I might be wrong.

It's been a while, where are we with this?

Unfortunately, validating a covariance is still ill defined (at least for my personal point of view). In these cases, it might be better to check what is current output and...

We can add a small explanation on rigid transformation in https://github.com/ethz-asl/libpointmatcher/blob/master/doc/Pointclouds.md