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Open3D: A Modern Library for 3D Data Processing
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Get information matrix of 2 rgbd pair from GPU odometry #3581

Open manhha1402 opened 3 years ago

manhha1402 commented 3 years ago

Hi, I want to run pose graph optimization using the poses from the module t::pipelines:odometry. I need to get the information matrix of 2 rgbd pair from GPU odometry part (https://github.com/intel-isl/Open3D/blob/master/cpp/open3d/t/pipelines/odometry/RGBDOdometry.h) as the same as CPU odometry part (https://github.com/intel-isl/Open3D/blob/master/cpp/open3d/pipelines/odometry/Odometry.h). Do you know how to get information matrix from GPU odometry? Thank you.

manhha1402 commented 3 years ago

One thing I think that the GPU odometry should also return whether the odometry result is successful or not, as the CPU odometry design. So the user can ignore that rgbd pair.