The absolute orientation method of Umeyama computes the similarity transformation which minimizes the mean squared distance between two point sets A and B of arbitrary dimension d.
The implementation of Umeyama is highly inspired by Eigen and is based on OpenCV (2.4.13).
S. Umeyama. Least-squares estimation of transformation parameters between two point patterns. Pattern Analysis and Machine Intelligence, IEEE Transactions on, 13(4):376–380, 1991.