How to find the center/axe of rotation?

Question

I have 2 3d models and have arrays of all their points and their correspondence. I know that the second model is the first one but after rigid transformation. I also know the type of that transformation - translation or rotation. I need to calculate the axis/center of transformation and it's value - angle or distance. Case with translation is very simple. But I can't find solution for rotation. More over I need to find the axis location relative to one of the model. So only the coordinates of vector defining the axis aren't enough. How can this problem be solved? PS: I use Java and C++ but even theoretical explanation will help me a lot.

Answer 1

It sounds like you need to registrate two models. Maybe you should have a look at ICP and Registration .

You didn't state it, but I assume the correspondences aren't exact, ie noisy.