linalg.det(v) < 0.0: # Ensure a RHS coordinate system (Kabsch algorithm). s[m - 1, m - 1] = -1 # rotation, eq. 40 r = u.dot(s).dot(v) # scale & translation, eq. 42 and 41 c = 1 / sigma_x * np.trace(np.diag(d).dot(s)) if with_scale else 1.0 t = mean_y...
Kabsch-Umeyama algorithm 参考文献: https://www.wikiwand.com/en/Kabsch_algorithm 面向点云配准,最小化两点集均方根误差(RMSD, root mean squared deviation)来计算最佳旋转矩阵。 注:该算法只能计算旋转矩阵,做点云配准还需要计算平移向量。当平移和旋转都正确计算出,该算法有时也叫_partial Procrustes ...
This repository contains a straight-forward implementation of the algorithm as a Matlab function. It is linked on the Mathworks Matlab Central platform. Usage Simply add the file to your Matlab path and call it using your point sets in format [3xn]. Please note that the point correspondences ...
Kabsch-Umeyama algorithm 参考文献: wikiwand.com/en/Kabsch_ 面向点云配准,最小化两点集均方根误差(RMSD, root mean squared deviation)来计算最佳旋转矩阵。 注:该算法只能计算旋转矩阵,做点云配准还需要计算平移向量。当平移和旋转都正确计算出,该算法有时也叫_partial Procrustes superimposition (see also ortho...