fix: Update backend

backend_utils.py

@@ -93,7 +93,7 @@ def combine_and_clean_point_clouds(pcds, voxel_size):
 
 def improved_multiway_registration(pcds, descriptors=None, voxel_size=0.05, 
                                    max_correspondence_distance_coarse=None, max_correspondence_distance_fine=None, 
-                                   overlap=5, quadratic_overlap=False, use_colored_icp=False):
+                                   overlap=5, quadratic_overlap=False, use_colored_icp=True):
     if max_correspondence_distance_coarse is None:
         max_correspondence_distance_coarse = voxel_size * 1.5
     if max_correspondence_distance_fine is None:
@@ -117,7 +117,7 @@ def improved_multiway_registration(pcds, descriptors=None, voxel_size=0.05,
             
             
             fitness = icp_fine.fitness
-            FITNESS_THRESHOLD = 0.01
+            FITNESS_THRESHOLD = 0.0001
 
             if fitness >= FITNESS_THRESHOLD:
                 current_transformation = icp_fine.transformation