Does this work for Sim3 pose graphs?

[NikolausDemmel]

Hi, thanks for the project!

In the code is see specializations for what looks like SE2 and SE3 pose graphs, but can this also work for Sim3?

[LimHyungTae]

Hello, I'm not a main maintainer, but I don't think it's a bit hard to apply the PCM in Sim3, because PCM assumes the transformation of loops follows rigid body transformation with some errors.