code: def test_3d_euclidean_estimation():
      src_points = np.random.rand(1000, 3)
  
      # Random transformation for testing
      angles = np.random.random((3,)) * 2 * np.pi - np.pi
      rotation_matrix = _euler_rotation_matrix(angles)
      translation_vector = np.random.random((3,))
      dst_points = []
      for pt in src_points:
          pt_r = pt.reshape(3, 1)
          dst = np.matmul(
              rotation_matrix, pt_r
          ) + translation_vector.reshape(3, 1)
          dst = dst.reshape(3)
          dst_points.append(dst)
  
      dst_points = np.array(dst_points)
      # estimating the transformation
      tform = EuclideanTransform(dimensionality=3)
      assert tform.estimate(src_points, dst_points)
      estimated_rotation = tform.rotation
      estimated_translation = tform.translation
      assert_almost_equal(estimated_rotation, rotation_matrix)
      assert_almost_equal(estimated_translation, translation_vector)
  
imports: import re
  import textwrap
  import numpy
  import pytest
  from numpy.testing import assert_almost_equal, assert_array_almost_equal, assert_equal
  from skimage.transform import AffineTransform, EssentialMatrixTransform, EuclideanTransform, FundamentalMatrixTransform, PiecewiseAffineTransform, PolynomialTransform, ProjectiveTransform, SimilarityTransform, estimate_transform, matrix_transform
  from skimage.transform._geometric import _GeometricTransform, _affine_matrix_from_vector, _center_and_normalize_points, _euler_rotation_matrix
label_desc: Use image node_id 4 for calling a global function with example usage: test_3d_euclidean_estimation() without return types