How to compute the relative position

[MHarbi]

I have consecutive point clouds. Their origin is (0, 0, 0). I am looking for finding the relative position, which is composed of (delta_x, delta_y, delta_z). I have generated the transformation matrix between each reference and source point clouds, but I could not figure out how to compute the relative position.

Does this library helps me to find this position? How?

[simonpierredeschenes]

The relative position (delta_x, delta_y, delta_z) between two point clouds corresponds to the translation described by the transformation matrix.

[pomerlef]

We can add a small explanation on rigid transformation in https://github.com/ethz-asl/libpointmatcher/blob/master/doc/Pointclouds.md