def calculate_transformation_kabsch(src_points, dst_points):
"""
Calculates the optimal rigid transformation from src_points to
dst_points
(regarding the least squares error)
Parameters:
-----------
src_points: array
(3,N) matrix
dst_points: array
(3,N) matrix
Returns:
-----------
rotation_matrix: array
(3,3) matrix
translation_vector: array
(3,1) matrix
rmsd_value: float
"""
assert src_points.shape == dst_points.shape
if src_points.shape[0] != 3:
raise Exception(
"The input data matrix had to be transposed in order to compute transformation."
)
src_points = src_points.transpose()
dst_points = dst_points.transpose()
src_points_centered = src_points - rmsd.centroid(src_points)
dst_points_centered = dst_points - rmsd.centroid(dst_points)
rotation_matrix = rmsd.kabsch(src_points_centered, dst_points_centered)
rmsd_value = rmsd.kabsch_rmsd(src_points_centered, dst_points_centered)
translation_vector = rmsd.centroid(dst_points) - np.matmul(
rmsd.centroid(src_points), rotation_matrix)
return rotation_matrix.transpose(), translation_vector.transpose(
), rmsd_value
def calculate_transformation_kabsch(src_points, dst_points):
"""
Calculates the optimal rigid transformation from src_points to
dst_points
(regarding the least squares error)
Parameters:
-----------
src_points: array
(3,N) matrix
dst_points: array
(3,N) matrix
Returns:
-----------
rotation_matrix: array
(3,3) matrix
translation_vector: array
(3,1) matrix
rmsd_value: float
"""
assert src_points.shape == dst_points.shape
if src_points.shape[0] != 3:
raise Exception("The input data matrix had to be transposed in order to compute transformation.")
src_points = src_points.transpose()
dst_points = dst_points.transpose()
src_points_centered = src_points - rmsd.centroid(src_points)
dst_points_centered = dst_points - rmsd.centroid(dst_points)
rotation_matrix = rmsd.kabsch(src_points_centered, dst_points_centered)
rmsd_value = rmsd.kabsch_rmsd(src_points_centered, dst_points_centered)
translation_vector = rmsd.centroid(dst_points) - np.matmul(rmsd.centroid(src_points), rotation_matrix)
return rotation_matrix.transpose(), translation_vector.transpose(), rmsd_value
def calculate_transformation_kabsch(src_points, dst_points):
assert src_points.shape == dst_points.shape
#be sure the correct format of point_coordinate array
if src_points.shape[0] != 3:
raise Exception(
"The input data matrix had to be transposed in order to compute transformation."
)
src_points = src_points.transpose()
dst_points = dst_points.transpose()
src_points_centered = src_points - rmsd.centroid(src_points)
dst_points_centered = dst_points - rmsd.centroid(dst_points)
rotation_matrix = rmsd.kabsch(src_points_centered, dst_points_centered)
rmsd_value = rmsd.kabsch_rmsd(src_points_centered, dst_points_centered)
translation_vector = rmsd.centroid(dst_points) - np.matmul(
rmsd.centroid(src_points), rotation_matrix)
return rotation_matrix.transpose(), translation_vector.transpose(
), rmsd_value