How to export and visualize a Pose Graph?

[espackman-nv]

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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

Hi! I would like to export the pose graph from the Mulitway Registration example, and some how visualize it. I am stuck on the process of exporting the pose graph, using o3d.io.write_pose_graph(filename, posegraph). I receive this error: [Open3D WARNING] Write pipelines::registration::PoseGraph failed: unknown file extension. I am unsure of what file extension to set, as the formatting page is missing from the documentation.

Thanks

[jbonyun]

Open3D is determining the file format to use based on the file extension you provide. It does this for both writing and for reading PoseGraph objects. As of now, it only seems to support ".json". So give it a string ending in ".json" and it should work.

This really ought to be made more clear in either the documentation or in the error message. I had to look into the C++ code, here.