rott

esta.general.rott

kabsch_fit(P, Q, W)

Rotate and translate matrix P unto matrix Q using Kabsch algorithm. An optional vector of weights W may be provided.

Parameters:

• P (array) –

  (N,D) matrix, where N is points and D is dimension.

• Q (array) –

  (N,D) matrix, where N is points and D is dimension.

• W (array or None) –

  (N) vector, where N is points.

Returns:

• P ( array ) –

  (N,D) matrix, where N is points and D is dimension, rotated and translated.