according to

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

Reprinted to  , 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
  The above derivation also involves a lot of knowledge of matrix theory , Here are some explanations

Step 2 < > Congruent representation inner product of
The derivation formula from step 3 to step is as follows

The rest is SVD