affine_registration.py 文件源码

def updateTransform(self):
    muX = np.divide(np.sum(np.dot(self.P, self.X), axis=0), self.Np)
    muY = np.divide(np.sum(np.dot(np.transpose(self.P), self.Y), axis=0), self.Np)

    self.XX = self.X - np.tile(muX, (self.N, 1))
    YY      = self.Y - np.tile(muY, (self.M, 1))

    self.A = np.dot(np.transpose(self.XX), np.transpose(self.P))
    self.A = np.dot(self.A, YY)

    self.YPY = np.dot(np.transpose(YY), np.diag(self.P1))
    self.YPY = np.dot(self.YPY, YY)

    Bt = np.linalg.solve(np.transpose(self.YPY), np.transpose(self.A))
    self.B = np.transpose(Bt)
    self.t = np.transpose(muX) - np.dot(self.B, np.transpose(muY))