Coloring corresponding points in 2 set of 3d Points the same.

I have 2 sets of 3d points (S1, S2) and a matrix showing the (non one-to-one) mapping from S1 to S2, where each row is (id_S1, id_S2).

I would like to plot the 2 sets of points such that every point in S2 it is colored the same as its corresponding points in S1 using a colormap like Jet.

Any help much appreciated.