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rigid-body-transformation

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hunter-heidenreich / Kabsch-Cookbook

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A collection of the Kabsch (SVD-based) and Horn (Quaternion-based) optimal structural alignment algorithms, implemented in Python (NumPy, PyTorch, JAX, TensorFlow, MLX).

computer-vision robotics tensorflow numpy protein-structure molecular-dynamics pytorch autograd computational-chemistry quaternion svd mlx rmsd point-cloud-registration differentiable jax kabsch umeyama structural-alignment rigid-body-transformation
  • Updated Apr 20, 2026
  • Python

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