Add yaw-only alignment to Umeyama alignment options#746
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mitchellcohen3 wants to merge 1 commit intoMichaelGrupp:masterfrom
Open
Add yaw-only alignment to Umeyama alignment options#746mitchellcohen3 wants to merge 1 commit intoMichaelGrupp:masterfrom
mitchellcohen3 wants to merge 1 commit intoMichaelGrupp:masterfrom
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Adds an option to align trajectories with a yaw-only 4DoF rigid body transformation. This is useful for when evaluating the outputs of visual-inertial algorithms, where the only ambiguous degrees of freedom are position and rotation about the gravity vector.