find_center_of_rota​tion

For lists of corresponding x,y points this function calculates the center of rotation and angle which warps the first to the second

For two lists of corresponding x,y points this function calculates

the center of rotation and rotation-angle, which warps the first list of x,y

points to the x,y points found in the second list.

[rot_point_xy,rot_angle] = find_center_of_rotation(xa,ya,xb,yb);

or

[rot_point_xy,rot_angle] = find_center_of_rotation(xa,ya,xb,yb, rot_angle_estimate)

Inputs

xa,ya : the first list of x,y coordinates

xb,yb : the second list of x,y coordinates, with each point

corresponding ot the point in the first list (but warped)

rot_angle_estimate : Estimate of the rotation angle between both list

of corresponding points

Outputs

rot_point_xy : The x and y position of the centre of rotation

rot_angle : The rotation angle which warps the points [xa,ya] to [xb,yb]

Method

Method is based on least squares optimization incombination of the

rotation point, and newton optimization of the rotation angle