Computes the transformation parameters that relates two point clouds
Switch branches/tags
Nothing to show
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Type Name Latest commit message Commit time
Failed to load latest commit information.
LICENSE
README.md
Umeyama1991.pdf
generate_data.m
input.csv
output.csv
transformation.m

README.md

Written by Harish Narayanan in 2011 and released into the public domain. See LICENSE for details.

Given two files containing your sets of points (input.csv and output.csv), the linked script computes the transformation parameters (R: rotation matrix, T: translation vector, c: scaling factor) that relates the points via:

y_i = cRx_i + t

The archive I’ve linked to also contains the paper that describes the algorithm I’ve implemented, and can be run from the command line as:

octave transformation.m

One can also generate fake data via octave generate_data.m to test the script.