concepts.simulator.pybullet.camera.kabsch_transform

kabsch_transform(x, y, verbose=False)

Find optimal rotation and translation to map vectors in x to y

Parameters:

• x – ndarray of size (N, 3).

• y – ndarray of size (N, 3).

• verbose (bool) – whether to print the intermediate results.

Returns:

ndarray of size (3, 3). translation: ndarray of size (3,).

Return type:

rotation