vector_to_rigid — Approximate a rigid affine transformation from point correspondences.
vector_to_rigid approximates a rigid affine transformation, i.e., a
transformation consisting of a rotation and a translation, from at least two
point correspondences and returns it as the homogeneous
HomMat2D. The matrix consists of 2 components:
a rotation matrix R and a translation vector
t (also see
The point correspondences are passed in the tuples (
Py) and (
corresponding points must be at the same index positions in the tuples.
The transformation is always overdetermined. Therefore, the returned
transformation is the transformation that minimizes the distances between
the original points (
Py) and the transformed points
Qy), as described in the following equation
(points as homogeneous vectors):
HomMat2D can be used directly with operators that transform data
using affine transformations, e.g.,
It should be noted that homogeneous transformation matrices refer to
a general right-handed mathematical coordinate system. If a
homogeneous transformation matrix is used to transform images,
regions, XLD contours, or any other data that has been extracted
from images, the row coordinates of the transformation must be
passed in the x coordinates, while the column coordinates must be
passed in the y coordinates. Consequently, the order of passing row
and column coordinates follows the usual order
Column). This convention is essential to
obtain a right-handed coordinate system for the transformation of
iconic data, and consequently to ensure in particular that rotations
are performed in the correct mathematical direction.
Furthermore, it should be noted that if a homogeneous transformation matrix is used to transform images, regions, XLD contours, or any other data that has been extracted from images, it is assumed that the origin of the coordinate system of the homogeneous transformation matrix lies in the upper left corner of a pixel. The image processing operators that return point coordinates, however, assume a coordinate system in which the origin lies in the center of a pixel. Therefore, to obtain a consistent homogeneous transformation matrix, 0.5 must be added to the point coordinates before computing the transformation.
X coordinates of the original points.
Y coordinates of the original points.
X coordinates of the transformed points.
Y coordinates of the transformed points.
Output transformation matrix.