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there is no translation in stitching module because there is no translation in this paper :
Matthew Brown and David G Lowe. Automatic panoramic image stitching using invariant features. International journal of computer vision, 74(1):59–73, 2007. and page 2 it is written :
Assuming that the camera rotates about its optical centre, the group of transformations the images may undergo is a special group of homographies.
If you want to include transaltion in your code you should forget this code.
You can start by making a panoramic view with a stereovision system
