code: def get_geman_mclure_weight(xyz, xyz_target, mu):
      """
      compute the weights defined here for the iterative reweighted least square.
      http://vladlen.info/papers/fast-global-registration.pdf
      """
      norm2 = torch.norm(xyz_target - xyz, dim=1) ** 2
      return (mu / (mu + norm2)).view(-1, 1)
  
file_path: torch-points3d/torch_points3d/utils/registration.py
imports: import open3d
  import numpy
  import torch
  from torch_points3d.utils.geometry import get_trans
  from torch_geometric.nn import knn
label_desc: Use image node_id 3 for calling a global function with example usage: get_geman_mclure_weight(xyz, xyz_target, mu) and returns: unknown