Transform3D class used to calculate best fit 3D transform between two sets of cartesian (X,Y,Z) points. 4x4 Transform matrix, 6DoF vector, Siemens NC style 6DoF vector, 4x4 Rotation matrix, 4x4 Translation matrix, fit error RMS and Rotation matrix determinant. This project relies on the Math.Net Numerics library. License info contained in Transform3D.cs.

Usage:          The Transform3D class takes in two sets of 3D points and calculates the best-fit transform and fit error RMS.  
                Transform3D works with any number of points so long as the number and order of points in both sets match.
                Incoming point arrays or matrices must be formatted such that each row represents a point with column0 as "X", 
                column1 as "Y" and column2 as "Z".
            
Terminology:    "actuals" refers to the starting points and "nominals" refers to ending points.  The calculated transform is 
                the best fit for actuals->nominals transform

References:     Details of SVD and rigid transform calculation can be found here:
                    http://graphics.stanford.edu/~smr/ICP/comparison/eggert_comparison_mva97.pdf
                    http://igl.ethz.ch/projects/ARAP/svd_rot.pdf
                    http://en.wikipedia.org/wiki/Wahba%27s_problem
                    http://en.wikipedia.org/wiki/Kabsch_algorithm
                    http://nghiaho.com/?page_id=671

Math.NET License Info:  
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