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@benemer Thanks for your reply. I have all the point clouds mapped to the same **Base** frame and performed point cloud alignment and got transformation for each point cloud. What...

@benemer Thank you fro your patience and apologies for not being specific. I have a set of point clouds under base frame marked as Base**P**, which are transfromed from their...

@benemer Thank you. Your solution seems correct. The base frame is the frame of robot arm end effector which the object is mounted on. I did the alignment with `open3d.registration.registration_icp`....