Wei Dong

[WIP] Tensor reconstruction system upgrade: make fragments

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This change is [](https://reviewable.io/reviews/isl-org/open3d/5181) This PR implements - Information matrix computation for RGB-D odometry - Easier-to-use pose graph wrapper in t-reconstruction system - Explicit Long sequence splitter (into fragments) -...

VoxelBlockGrid update

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- Provide `Reset` to address #4759 - Provide `Prune` to recycle outlier blocks - Minor parameter adjustment for loading to avoid stdgpu hashmap overflow --- This change is [](https://reviewable.io/reviews/isl-org/open3d/4774)

Add support to scale optimization per depth image given COLMAP SfM reconstruction - For simplicity, assume metric poses are known (e.g. from external VIO algorithms), so that COLMAP can reconstruct...