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Determining types of 3D transformation between two sets of cloud points

Hi. I am new in the forum and I have a little question.

I have two cloud of points in 3D and I know that the second cloud is obtained applying a transformation matrix.

I think, if I am not mistaken, that I need to use the estimateAffine3D function. But, in this case, I would like to know how much of each transformation has been applied. For example, I would like to know if the second set of clouds has been scaled 2 times, rotated 25ยบ and sheared 5 units in the X axis. The second set of points can have any kind of transformations.

thanks a lot for your time!