transform_by_rigid3d.m.svn-base

来自「使用混合高斯函数」· SVN-BASE 代码 · 共 23 行

% [result] = transform_by_rigid3d(pointset, param)
% perform a 3D rigid transform on a pointset and
% return the transformed pointset
% Note that here 3D rigid transform is parametrized by 7 numbers
% [quaternion(1 by 4) translation(1 by 3)]
%
% See also: quaternion2rotation, transform_by_rigid2d,
% transform_by_affine3d

function [result] = transform_by_rigid3d(pointset, param)
%%=====================================================================
%% $RCSfile: transform_by_rigid3d.m,v $
%% $Author: bjian $
%% $Date: 2008/06/28 23:32:21 $
%% $Revision: 1.1 $
%%=====================================================================
n = size(pointset,1);
r = quaternion2rotation(param(1:4));
t = ones(n,1)*param(5:7);
result = pointset*r' + t;