Source: GitHub
Signature¶
def sdynpy.signal_processing.sdynpy_rotation.lstsq_rigid_transform(x, y, w=None)Computes the Transform between two point sets such that y = Rx + t
This is a least squares methods as descibed in
“Least-Squares Rigid Motion Using SVD”, O. Sorkine-Hornung, M.
Rabinovich, Department of Computer Science, ETH Zurich, Jan 16, 2017
Note found online at https://
INPUT x,y = the two point sets as [x,y,z] column vectors sizes are (3,n) for n points w = weighting vector for each point, wi>0 default is uniform weighting of wi=1 size is (1,n) for n points
OUTPUT R,t = [(3,3),(3,1)] transformation parameters such that y = Rx + t