Max Eskin maxvoxel8

## rigid_transform.py
#%%

from numpy import *
from math import sqrt

# Input: expects Nx3 matrix of points
# Returns R,t
# R = 3x3 rotation matrix
# t = 3x1 column vector
	#%%

	from numpy import *
	from math import sqrt

	# Input: expects Nx3 matrix of points
	# Returns R,t
	# R = 3x3 rotation matrix
	# t = 3x1 column vector