Best way to incorporating Schur complement trick with pypose

[zhengqili]

🚀 The feature, motivation and pitch

Schur complement trick is often used in SfM or SLAM to solve normal equation in BA more efficiently, and it's supported by the Ceres solver. I am wondering if there is any way (or what is the best way) we can incorporate this trick with pypose.

Thanks

Alternatives

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Additional context

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[zitongzhan]

That's a good question! We did have an implementation for Schur complement trick but that will need a major change to LM. We are trying to come up with a way that have a minimum change to existing API while incorporating Schur trick. Suggestions are welcomed.