Pointcloud Registration ColoredICP works worse?

[zmf2022]

Checklist

• [X] I have searched for similar issues.
• [X] For Python issues, I have tested with the latest development wheel.
• [X] I have checked the release documentation and the latest documentation (for master branch).

My Question

I have three rgbd cameras, and get three pointclouds from different view of cameras. I use ICP registration them, but them work worse. Can you help me? ICP Paramter voxel_sizes=0..02 iterations=50

pointcloud 1:

pointcloud 2:

pointcloud 3:

before ICP:

after ICP:

And I have another question，three pointclouds merge together and the picture become blurry, How solove it?

[zmf2022]

pointcloud files here, can you help me? https://drive.google.com/file/d/1oyuUMvOSULSGLcJdX42amO4QKYb5uUUE/view?usp=share_link