The problem: I have two instances of the same object in a space coordinate system. I want to know the transform Matrix between those objects (translation and rotation). I have access to all the vertices, points, edges or faces.
At first, I wanted to use the Iterative Closest Point algorithm (ICP) but as my element are the same, I thought this was too much.
Do you know a simpler version of the ICP for this specific case or another way to get the transform matrix?
PS: I'm more used to programming than mathematics so I'll better understand an answer in pseudocode than a formula.