title: compute a roto-translation for 3D mesh
body: <p>My EinScan SP 3D scanner is producing objects which are rotated &amp; translated relative to its real-world orientation.</p>
  <p><img src="https://i.stack.imgur.com/CAZxB.png" alt="rotated cylinder of soil sample" /></p>
  <p>The unit has already been calibrated and I do not plan to move it.</p>
  <p>I need to compare many scans of the same object after subjecting it to a mechanical test.</p>
  <p>I am interested in spatial measurements and morphometrics, but the objects need to be aligned with 'real-world' coordinate system to do so.</p>
  <p>How can I re-orient the objects programmatically, i.e. without manually adjusting each 3D object ?</p>