Fiducial registration wizard - rigid transform algorithm

Hi community, i am now wondering about the rigid transform in IGT - Fiducial registration wizard.
I want to know about the algorithm or the minimal objective function of the rigid transform for landmarks.
However, it did not made the button of source code.
Therefore, i am wondering what the minimal objective function of the landmarks is.
Thank you for your time!

Fiducial registration wizard module uses vtkLandmarkTransform class for rigid registration.

vtkLandmarkTransform uses the Horn method.

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Thank you so much!