Finding transformation matrix between two 3D point clouds?

I have two 3D point clouds- the triangulation of matched feature points from two stereo pairs. I want to find the transformation matrix between these two 3D point clouds. I thought that I could use the matlab function fitgeotrans, however it seems like this function only takes in 2D points. Is there a way to find the transformation matrix in Matlab?

Answer 1

[Matt J]

You can use ABSOR (Download) as long as the transformation is a similarity.