本文探讨了如何使用Python解决三维空间中刚体的旋转和平移问题。通过介绍 singular value decomposition (SVD) 方法，以及如何构建和转换坐标基，解释了如何计算旋转和平移矩阵来确定新坐标。对于给定的三个已知点，可以建立初始坐标基，然后通过矩阵操作找到转换矩阵，从而得到第四个点的新坐标。
I've been trying to work out how to solve the following problem using python:
We have points a, b, c, d which form a rigid body
Some unknown 3D translation and rotation is applied to the rigid body
We now know the coordinates for a, b, c
We want to calculate coordinates for d
What I know so far:
Trying to do this with "straightforward" Euler angle calculations seems like a bad idea due to gimbal lock etc.
Step 4 will therefore involve a transformation matrix, and once you know the rotation and translation matrix it looks like this step is easy using one of these:
What I can't work out is how I can calculate the rotation and translation matrices given the "new" coordinates of a, b, c.
I can see that in the general case (non-rigid body) the rotation part of this is Wahba's problem, but I think that fo
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