Current working stand alone version can by find on my GitHub here:
Two files to look at are those with 3D in the name which are the 3D, spherical point matcher. The 3D matcher is also implemented in the u/morriscb/pythonOPMb branch of meas_astrom as a simple replacement to _doMatch in matchOptimisticB.py.
Things to look for:
Is there any optimization to be done in the matching methods of _construct_and_match_pattern and _pattern_spoke_test. In addition to these two you could check the _construct_rotation_matricies method.
Take a look at the testOPMb3D.py method to see if the tests are sufficient to verify the functionality of the code.
Beyond that general coding style comments and and suggestions of pythonic "tricks" that I am not currently using would be helpful.