code: def test_match_vectors_no_noise():
      np.random.seed(0)
      c = Rotation.from_quat(np.random.normal(size=4))
      b = np.random.normal(size=(5, 3))
      a = c.apply(b)
  
      est, cov = Rotation.match_vectors(a, b)
      assert_allclose(c.as_quat(), est.as_quat())
  
imports: from __future__ import division, print_function, absolute_import
  import pytest
  import numpy
  from numpy.testing import assert_equal, assert_array_almost_equal
  from numpy.testing import assert_allclose
  from scipy.spatial.transform import Rotation, Slerp
  from scipy.stats import special_ortho_group
  from itertools import permutations
label_desc: Use image node_id 49 for calling a global function with example usage: test_match_vectors_no_noise() without return types