Skip to content

Instantly share code, notes, and snippets.

View CarloNicolini's full-sized avatar

Carlo Nicolini, PhD CarloNicolini

View GitHub Profile
@CarloNicolini
CarloNicolini / ralign
Created October 23, 2013 12:47
Umeyama algorithm for absolute orientation problem in Python
"""
RALIGN - Rigid alignment of two sets of points in k-dimensional
Euclidean space. Given two sets of points in
correspondence, this function computes the scaling,
rotation, and translation that define the transform TR
that minimizes the sum of squared errors between TR(X)
and its corresponding points in Y. This routine takes
O(n k^3)-time.
Inputs:

Keybase proof

I hereby claim:

  • I am carlonicolini on github.
  • I am cnicolini (https://keybase.io/cnicolini) on keybase.
  • I have a public key ASBrTOueaGtqmOEC05vqvPauFQ7tO6pXCfu7Bv_D3YH42Ao

To claim this, I am signing this object: