text: import numpy as np
  #Develop a covaraince from the matached points
  #Perform SVD- Get USV
  #rotation is found out from VU'
  
  def find_rotation(clsoestPoint, original):
  	covariance = np.dot(np.transpose(clsoestPoint), original)
  	U, s, V = np.linalg.svd(covariance)
  	rotation = np.dot(V,np.transpose(U))
  	return rotation
  
  