title: How to calculate the transformation matrix of 3D coordinate system?
body: <p>Now I have many groups of 3D coordinates in 2 different coordinate system and I want to calculate the transformation matrix using these coordinates. For example: the coordinates of point A in those two coordinate systems are (i,j,k) and (x,y,z), separately. So</p>
  
  <p>(i,j,k,1)=(x,y,z,1)*M</p>
  
  <p>the M is what I want, but the matrix are singular so I cannot directly calculate i, so how can I do it?</p>