Is this algorithm suitable for find SIM3 matrix from 3D points pairs?

[arenas7307979]

hii, thank for your sharing, Many of the strategies for optimizing result of the transformation estimation in the image problem. the algorithm suitable for find SIM3 matrix from two group 3D points pair in coordinate transforamton problem?

[danini]

If this is still relevant, you can find example code in https://github.com/danini/magsac/blob/master/examples/example_rigid_transform.ipynb