Hi Ernest,
To align the object's coordinate system with the global coordinate system, you need to apply a transformation to the point cloud using the inverse of the reference matrix. Here's how you can do it in MATLAB:
ref = [-0.48664090, 0.36675647, 0.79288739;
-0.67601788, -0.73296887, -0.075871207;
-0.55333579, 0.57292831, -0.60462612];
ref_inv = inv(ref);
transformedPointCloud = (ref_inv * pointCloud')';
"ref_inv" is the inverse of the reference matrix, which will be used to transform the point cloud. The "pointCloud" should be an Nx3 matrix where each row represents a point in the cloud. Make sure "pointCloud" is defined with your actual data before running this code.
Multiplying the inverse of the reference matrix by the point cloud aligns the object with the global coordinate system.
