Rigid Body Transformation (Söderkvist & Wedin Method) Between Two Marker Frames

Computes the 4x4 rigid body transformation matrix between two frames of 3D marker data, using the SVD method of Söderkvist & Wedin (1993).

Usage

rigid_transform_svd(reference_data, target_data)

Arguments

reference_data

A data frame or matrix representing the reference frame (e.g., time 1).

target_data

A data frame or matrix representing the target frame (e.g., time 2).

Value

A list containing:

T

4x4 transformation matrix (rotation and translation)

res

Residual error (Euclidean norm adjusted by DOF)

References

Söderkvist & Wedin (1993). Determining the movements of the skeleton using well-configured markers. Journal of Biomechanics, 26:1473–1477.