参考推广:
matlab通过两个坐标系对应点计算转换关系
https://blog.csdn.net/sinat_29886521/article/details/77506426?utm_source=blogxgwz0
python计算两个对应点集之间的旋转矩阵R和转移矩阵T
https://blog.csdn.net/u012836279/article/details/80203170?utm_source=blogxgwz0
matlab 中的仿射变换函数
https://blog.csdn.net/aiwen521125/article/details/24835511?utm_source=blogxgwz0
奇异值分解(SVD)原理详解及推导
https://blog.csdn.net/zhongkejingwang/article/details/43053513
SVD分解(奇异值分解)求旋转矩阵
https://blog.csdn.net/dfdfdsfdfdfdf/article/details/53213240?locationNum=2&fps=1