according tohttps://en.wikipedia.org/wiki/Orthogonal_Procrustes_problem
<https://en.wikipedia.org/wiki/Orthogonal_Procrustes_problem>









The changing steps of the original point set are given here. Combined with the code:



Reprinted tohttp://blog.csdn.net/tinyzhao/article/details/53169818  , The explanations were very good, It gives me a lot of inspiration




The only puzzle above is the derivation process of, It's actually a least squares problem

  According to the general transformation 
https://en.wikipedia.org/wiki/Procrustes_analysis#Ordinary_Procrustes_analysis
<https://en.wikipedia.org/wiki/Procrustes_analysis#Ordinary_Procrustes_analysis>
  The above derivation also involves a lot of knowledge of matrix theory, Here are some explanations






The second step< > Congruent representation inner product of
The derivation formula from step 3 to step is as follows




The rest isSVD