Struggle with ICP and Global Registration

[GRD39101]

Hi, I am new to the point cloud world. I am learning this material while I am on a co-op rotation. My current project requires me to use an external camera(Luxonis Oak-D-SR-POE-Tof) to capture point cloud data. I am using open3d to to visualize the .ply or .pcd file. I am trying to use ICP to align my two point clouds into one. However I am significantly struggling to get both to work. I can display the code that I am using if that helps. It would also help if someone is familiar with the the camera brand that i mentioned.