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Factor out camera motion using regular (rigid) ICP + color #46

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2 of 5 tasks

Algomorph opened this issue Aug 16, 2022 · 0 comments

Open

2 of 5 tasks

Factor out camera motion using regular (rigid) ICP + color #46

Algomorph opened this issue Aug 16, 2022 · 0 comments

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Algomorph commented Aug 16, 2022 •

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This can be done using the provided Open3D slam pipeline.

Rearrange ops to make rendered warped mesh always available before non-rigid alignment, mesh warping mandatory at every frame
Call to rigid ICP+color odometry function from Open3D
Modify warping routine to employ extrinsic matrix
Employ proper extrinsic in non-rigid alignment
Employ proper extrinsic in integration

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Implement classic DynamicFusion t-minus-one-to-t scheme #22

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20 tasks

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