I’m currently looking for a library that can solve or assist solving the following problem.

I have a bunch of 3D point clouds from different angles and would like to combine them to have a single 3d point cloud. Seems like there were some packages like PCL.jl and https://github.com/FugroRoames/PointCloudMatching.jl which seem to be discontinued.

Is there any package that is related to that field that I can have a look at?
I use ImageProjectiveGeometry for a RANSAC implementation to align them in one dimension (detecting the ground and removing it) now I’m mostly interested in rotation on the z=0 plane as well as translation.

This repo contains an example implementation of the iterative closest point (ICP) algorithm. It could / should be factored out into a proper repo and there is still some room for improvement (e.g. usage of StaticArrays).

Ah, thanks for pointing that out! I did some of the StaticArray upgrades by combining that with the known PCL types added to Caesar.jl. I expect to do a few more upgrades so that the transforms are well integrated existing transformation libraries. In the mean time, here is a packaged version of alignICP_Simple using Caesar._PCL types: https://juliarobotics.org/Caesar.jl/latest/examples/using_pcl/#Caesar._PCL.alignICP_Simple