Kabsch solver function in multi-device alignment script

[anketsp]

Hey folks, So I am working on a project using multiple leaps and thanks to leap motion we have a multi device experimental build as well. I was able to set it up perfectly fine on my machine but I would like to know about a specific function which is used inside the multi-device alignment script.
"KabschSolver()" : Can someone explain me how this function transforms the coordinates of one device with respect to other? I know it has something to do with matrices.
Can someone help me out understand what is exactly happening in that function.

[jselstad]

I made a small interactive write-up of the Kabsch function here:

Kabsch

It just finds the closest rigid transform between two sets of matched points.

The most important bit is the polar decomposition, outlined in Matthias Muller Fischer’s paper.

Orthonormalization

2016-MIG-StableRotation.pdf