code: def set_mapping(self, points1, points2):
          
          # note: need to transpose because util.functions uses opposite
          # of standard linear algebra order.
          self.matrix = transforms.affine_map(points1, points2).T
docs: Set to a 3D transformation matrix that maps points1 onto points2.
  
          Parameters
          ----------
          points1 : array-like, shape (4, 3)
              Four starting 3D coordinates.
          points2 : array-like, shape (4, 3)
              Four ending 3D coordinates.