rigid_body_motion.iterative_closest_point¶

rigid_body_motion.iterative_closest_point(v1, v2, dim=None, axis=None, init_transform=None, max_iterations=20, tolerance=0.001)[source]¶

Iterative closest point algorithm matching two arrays of vectors.

Finds the rotation r and the translation t such that:

\[v_2 \simeq rot(r, v_1) + t\]

Parameters

v1: array_like, shape (…, 3, …): The first array of vectors.
v2: array_like, shape (…, 3, …): The second array of vectors.
dim: str, optional: If the first array is a DataArray, the name of the dimension representing the spatial coordinates of the vectors.
axis: int, optional: The axis of the arrays representing the spatial coordinates of the vectors. Defaults to the last axis of the arrays.
init_transform: tuple, optional: Initial guess as (translation, rotation) tuple.
max_iterations: int, default 20: Maximum number of iterations.
tolerance: float, default 1e-3: Abort if the mean distance error between the transformed arrays does not improve by more than this threshold between iterations.

Returns

translation: array_like, shape (3,): Translation of transform.
rotation: array_like, shape (4,): Rotation of transform.