does gtsam support corridor-like environment?

[zMkOrg]

so that when in corridor, only axes with most constraints can be corrected (e.g., for a corridor-like environment, the resulting transform will be limited in y, z, pitch, row and yaw, x will taken from the guess?

[koide3]

The scan matching factors implemented in gtsam_points would present constraints with a limited DoF in such cases.