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Implement point cloud alignment for SE3 #346

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Implement point cloud alignment for SE3 #346

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Commits on Apr 4, 2022

  1. Implement point cloud alignment for SE3 

    This is equivalent to `Eigen::umeyama` but faster and stores the results
more compactly.
    @Hs293Go
    Hs293Go committed Apr 4, 2022
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