Registration results

[FanLu97]

Hello,
thanks for your excellent work! I observed that the proposed method can be used for rigid point cloud registration and found partial_prealign_reg.py in the demo. However, the registration results seems to contain only flowed points and I could not find the transformation matrix (i.e., rotation and translation). Could you please how can I get the transformation matrix?

Thanks in advance.

[hbgtjxzbbx]

Sorry for the late reply. I missed this message. Here is the prealign matrix.

robot/robot/models_reg/model_prealign.py

Line 106 in c42cb4c

def prealign(self, shape_pair):