Multiway Registration quality issues #6753
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Chernobrovkin-AD
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I performed multiway registration with code from docs:
![image](https://private-user-images.githubusercontent.com/153619272/321590027-c792e0e3-1931-4449-a0b6-f846653f3bfb.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjU2MDQwMjcsIm5iZiI6MTcyNTYwMzcyNywicGF0aCI6Ii8xNTM2MTkyNzIvMzIxNTkwMDI3LWM3OTJlMGUzLTE5MzEtNDQ0OS1hMGI2LWY4NDY2NTNmM2JmYi5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwOTA2JTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDkwNlQwNjIyMDdaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT00M2ZlZjMyY2Y1ZmUzZjA1MDViZDFmMjgyYTZlNmQ1ZjA5MDUxYjQ3N2Y4MTY3NTYxMjE0MDgyYzJiNjhkOGVhJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.Jm0PcAJ8MMRHxzR_8to5407atBUHHvQTxwrOoHrGc6M)
![image](https://private-user-images.githubusercontent.com/153619272/321589904-24281625-0f2d-4f36-99b4-3c9b879e46f6.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTUiLCJleHAiOjE3MjU2MDQwMjcsIm5iZiI6MTcyNTYwMzcyNywicGF0aCI6Ii8xNTM2MTkyNzIvMzIxNTg5OTA0LTI0MjgxNjI1LTBmMmQtNGYzNi05OWI0LTNjOWI4NzllNDZmNi5wbmc_WC1BbXotQWxnb3JpdGhtPUFXUzQtSE1BQy1TSEEyNTYmWC1BbXotQ3JlZGVudGlhbD1BS0lBVkNPRFlMU0E1M1BRSzRaQSUyRjIwMjQwOTA2JTJGdXMtZWFzdC0xJTJGczMlMkZhd3M0X3JlcXVlc3QmWC1BbXotRGF0ZT0yMDI0MDkwNlQwNjIyMDdaJlgtQW16LUV4cGlyZXM9MzAwJlgtQW16LVNpZ25hdHVyZT1kODE5MGRhNzVhNThjMmExNzJhNTAzZWI4YTBlZmM3NzAxMTZlZDFjYjgxMzYzZTM2MDdlMjY1ODE2MGMwMmViJlgtQW16LVNpZ25lZEhlYWRlcnM9aG9zdCZhY3Rvcl9pZD0wJmtleV9pZD0wJnJlcG9faWQ9MCJ9.9czkhAD8b_LhBLV_cLFdDnyOP635NQVUGkqCa3nK04A)
https://www.open3d.org/docs/release/tutorial/pipelines/multiway_registration.html
I just substituted input with my 8 clouds:
https://drive.google.com/file/d/1ewB_hHmazMysaT0dklnekcz9RbjgDUWj/view?usp=sharing
Result cloud:
https://drive.google.com/file/d/1BstsxOBF0xpd8O9kRdtJ0yrf4KDlhz7_/view?usp=sharing
Screenshot before:
Screenshot after:
Final result look worse than input. Is it algorithm issue, or something should be tuned? Or something bad with the input?
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