Multi view point cloud registration, how to align point clouds?

So I have a project in which I used a SICK visionary-T mini ToF camera to record an object.

I thought the camera had a gyroscope and saved the rotation and translation in the recording, so I recorded the object by walking around it with the camera and pointing at different parts of it, but the camera has no such thing.

In the end I’m left with approximately 500 point clouds of the object from all directions, but no rotation …

cloud computervision project recording registration rotation thought translation walking