sksurgerycore.algorithms.procrustes module

Functions for point based registration using Orthogonal Procrustes.

sksurgerycore.algorithms.procrustes.orthogonal_procrustes(fixed, moving)

Implements point based registration via the Orthogonal Procrustes method.

Based on Arun’s method:

Least-Squares Fitting of two, 3-D Point Sets, Arun, 1987, 10.1109/TPAMI.1987.4767965.

Also see this and this.

Parameters:

• fixed – point set, N x 3 ndarray
• moving – point set, N x 3 ndarray of corresponding points

Returns:

3x3 rotation ndarray, 3x1 translation ndarray, FRE

Raises:

ValueError