Open3d: Inaccuracy in information matrix calculation

[ohadmen]

calculation of information matrix in (Open3D/Registration/Registration.cpp@374) is inconsistent with documentation.
according to: http://redwood-data.org/indoor/registration.html, matrices, matrix init at line 392 and 387 should be zero, and not identity

[qianyizh]

I think you are right.
@syncle take a look?
https://github.com/intel-isl/Open3D/blob/e8517a6902b4979fdadb2bd526aa0b66e621e203/src/Open3D/Registration/Registration.cpp#L392
This line should be:

    Eigen::Matrix6d GTG = Eigen::Matrix6d::Zero();