On integrating 1DSfM pipeline in ShonanAveragingCLI.py

[Mechazo11]

Dear Professor Dellaert (@dellaert) ,

Thank you very much for publishing the novel rotation algorithm pipeline in python in Github. I am new to the GTSAM/GTSfM project and noticed that the well-known 1DSfM pipeline was implemented in python (many thanks for doing that) but the said system was not used for recovering translations in the ShonanAveragingCLI.py pipeline (as far as I understood at the time of writing this note).

Is it possible to swap out the estimate_poses_given_rot() function with the 1DSfM implementation in ShonanAveragingCLI.py?

What materials would you suggest I should go over to figure out the swap for the toy example given in this repo.

Thank you for your time.