I’m learning about ICP (Iterative Closest Point) and at this stage try to implement the basics myself (I know about the existing packages).

I have two arrays of points, that I want to match and therefore I want to compute the homogenous transformation between them. The points are represented with static arrays: `SArray{Tuple{4},Float32,1,4}`

(length of 4 because they’re homogenous coordinates), so the arrays of points look like: `Array{SArray{Tuple{4},Float32,1,4},1}`

I have an equation like: `reading_array * transform_matrix = referenc_array`

(the arrays have the same length).

If I transpose them and try to solve the equation I get the following error:

`MethodError: no method matching pinv(::Array{SArray{Tuple{4},Float32,1,4},1}, ::SArray{Tuple{4},Float32,1,4})`

My question is, that the method error raises because I have array of arrays instead of matrix? (I read here that it’s better to have that way, but it’s possible that I misinterpreted it.) If so, should I use `SMatrix`

at a size like (ten)thousands×4?