Sim3 constraints in 2D tested. Scale variations tested. Round trip to origin tested in 4 steps.
Testing GPS like constraint to Sim3. Unaryfactor works fine on 1st node, insensible values for following nodes. Wrong 'evaluate error' ?.
Testing GPS like constraint to Sim3. Unaryfactor works fine on 2nd node in 1D. No rotations.
Testing GPS like constraint to Sim3. 2 Nodes. Rotated in 2D (about z axis). Scale correcting of Sim3 based on GPS factor works in a decently big neighbourhood of original Sim3 scale.
Testing GPS like constraint to Sim3. 2 Nodes. Rotated in 2D (about z axis). Initially consistent set of Sim3 between factors and GPS unary factors in 2D (rotation about z axis) with scale change verified.
Testing GPS like constraint to Sim3. 2 Nodes. Rotated in 2D (about z axis). Initially non - consistent set of Sim3 between factors and GPS unary factors in 2D (rotation about z axis) with scale change verified. Incorrect scales from Sim3 are corrected by using GPS factors.