c++ - Calculate transformation matrix from three 3D points -

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i have 3d coordinate system of track 3 outer points 3d camera.
have 3 points in (x,y,z) space.
next frame track these 3 points again.
use first 3 points initial situation. need draft transformation matrix gives me translation, rotation , scaling of second 3 points, in comparison initial position.

now not know how this.
there way directly make transformation matrix, or first have work out translation, rotation , scale matrix , make transformation matrix of these three?

i work in c++ opencv , qt. got suggestions? not need full working example, can me on way appreciated.

thanks! j

this tutorial looks pretty nice (what looking called affine transform)!


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