I have two 3D Cartesian coordinate systems with different orientations, call them A and M. In 'A' I have 8 defined points with 3D coordinates. In 'M', I have 6 of the points in 'A' defined with 3D coordinates as oriented in 'M', 4 of which are on the same plane.

I need help trying to figure out the steps to get a transformation matrix such that I can get the unknown two points in 'M' using the known points in 'A'.

Thanks

Also, any good links for transformation matrices or help to solve a problem like this would be appreciated.