[QUESTION] Translation only alignment?

[cclaan]

Have you read the documentation?

• [x] Yes
• [] No

Hi, for the case of 3dof translation point cloud alignment, are there modifications to teaser that would improve speed / accuracy over just running the full rotation/scale/translation steps?
Thanks

[jingnanshi]

You should be able to just run the translation estimator, although you need to take a look into the implementation as we don't have an existing API for translation only estimation.

[cclaan]

Thanks, I did take a look at the translation estimation step, but it looked like the point clouds had already been pruned from the rotation / scale parts that use the correspondences. There was no way to pass correspondences directly to the translation step.

[jingnanshi]

@cclaan that's correct. You need to write some new functions to skip the rotation part. If my understanding is correct, it looks like you just need the max clique pruning part + translation estimation? You should be able to write a function to directly use the two parts.

[cclaan]

Thanks I will dig in a bit further