affine_registration.py 文件源码

def __init__(self, X, Y, B=None, t=None, sigma2=None, maxIterations=100, tolerance=0.001, w=0):
    if X.shape[1] != Y.shape[1]:
        raise 'Both point clouds must have the same number of dimensions!'

    self.X             = X
    self.Y             = Y
    self.TY            = Y
    (self.N, self.D)   = self.X.shape
    (self.M, _)        = self.Y.shape
    self.B             = np.eye(self.D) if B is None else B
    self.t             = np.atleast_2d(np.zeros((1, self.D))) if t is None else t
    self.sigma2        = sigma2
    self.iteration     = 0
    self.maxIterations = maxIterations
    self.tolerance     = tolerance
    self.w             = w
    self.q             = 0
    self.err           = 0