The computation of translation

[ApprenticeYc]

Dear authors,

I would like to utilize your algorithm for point registration. The rotation eigen is accurate, however, the translation is far from ground truth. Are they obtained by function "fast_iterative_sliced_transport" ?

Thank you very much.

[nbonneel]

Hi,
the translation itself is accurate, but the returned value from the function is a translation value that is computed in a specific way that allowed me to compare to another algorithm. I do not have time to look more into it now, but at worse, you can take the final and initial point cloud, and take their centroid difference as the translation estimate. (it also depends whether your transformation model is P' = rotP +trans, or P' = rot(P+trans). If I recall, mine was P' = rot*(P - centroid1) + centroid2 + trans, which can explain the difference.
Nicolas