Description: Attempting to see how varying the number of bins and filter width affects results, if at all. Bins size is 50, filter width is 3 compared with 256 and 5 respectively.
Intent: Seeing if there is a point in trying to change the above values and observe a working algorithm.
Result: Registration still badly degrades, with a different result.
Conclusion: red_info in 3-D needs to be reviewed at code level.