def superimposition_matrix(v0, v1, scale=False, usesvd=True):
    v0 = numpy.array(v0, dtype=numpy.float64, copy=False)[:3]
    v1 = numpy.array(v1, dtype=numpy.float64, copy=False)[:3]
    return affine_matrix_from_points(v0, v1, shear=False,
                                     scale=scale, usesvd=usesvd)
Return matrix to transform given 3D point set into second point set.
dataset/ETHPy150Open IEEERobotics/bot/bot/hardware/complex_hardware/transformations.py/superimposition_matrix