what does this code mean ?
1 view (last 30 days)
Show older comments
function PV=Get_Pivot_Point(PP)
% PP dimension: (no. of observation X 4 [no. of markers] X 3[x,y,z 3-d coordinate of marker] )
pv_tool = squeeze(PP(1,:,:));
%pv_tool=[0 0 0 ; 0 0 50; 0 25 100 ; 0 -25 135];
p_pairs=nchoosek(1:size(PP,1),2);
num_exapmple=10;
whos
pivot_points=[]
for k=1:10
P1=[];
P2=[];
rp=randperm(size(p_pairs,1),num_exapmple)
rp_a=p_pairs(rp,1);
rp_b=p_pairs(rp,2);
for i=1:10
P1=[P1 ; squeeze(PP(rp_a(i),:,:))'];
P2=[P2 ; squeeze(PP(rp_b(i),:,:))'];
end
X=compute_pivot_point(P1,P2);
tmp_pivot_points=[];
for j=1:size(PP,1)
[T, Eps] = estimateRigidTransform(pv_tool', squeeze(PP(j,:,:))); % (target, source)
tmp_pivot_points=[tmp_pivot_points ; transformPoint3d(X',T)];
end
pivot_points=[pivot_points ; mean(tmp_pivot_points)];
end
plot3(pv_tool(:,1),pv_tool(:,2),pv_tool(:,3),'r*')
hold on
plot3(pivot_points(:,1), pivot_points(:,2), pivot_points(:,3),'b*')
grid on
axis equal
PV.pv_point=median(pivot_points);
PV.pv_tool=pv_tool;
end
function X=compute_pivot_point(P1,P2)
[X, R] = linsolve([P2-P1],sum([P2.^2-P1.^2], 2)/2);
end
7 Comments
Answers (0)
See Also
Categories
Find more on Call Python from MATLAB in Help Center and File Exchange
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!