The rotation matrix part of output T is not orthogonal

[kjanparvari]

I used ndt for point cloud registration on kitti. But, when I decompose the output T to R and t, R is not orthogonal matrix.

[scomup]

R created by exponential map of so3, is always an orthogonal matrix.
https://github.com/scomup/point-cloud-registration/blob/main/point_cloud_registration/math_tools.py#L80-L98