The problem I'm trying to solve is following: I have two rotation matrices in 3d space, each from a different coordinate frame - one is a rotation matrix A with zero rotation in all directions, the second matrix B has some rotations in all directions. I want to find a transformation between these two rotation matrices, so that when I get more matrices like B, I will be able to use this transformation to transform it to the coordinate frame of the matrix A.
How can I get this transformation? Is it enough to know just one point in each coordinate frame?