Hi,

Given a reference set of 3D points A and a test set of 3D points B, I
would like to know how to calculate the rigid body transform which finds
the best alignment of B with A.

N.B. Set A and B are not representing the same thing, and are likely to
contain different number of elements. Therefore I am not looking to find
the direct correspondence between A or B, and so as far as I can tell
ICP is not really valid here.

Any help much appreciated,

Adam