Aligns corresponding pair of 3D points Computes the optimal rigid transform between reference points (`ref_points`) and target points (`tgt_points`). Args: ref_points (torch.Tensor): Reference points `(B, N, 3)` tgt_points (torch.Tensor): T
(self,
ref_points: torch.Tensor,
tgt_points: torch.Tensor, *args, **kwargs)
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