TransformationConverter.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include "open3d/core/Tensor.h"
 
namespace open3d {
namespace t {
namespace pipelines {
namespace kernel {

core::Tensor RtToTransformation(const core::Tensor &R, const core::Tensor &t);

core::Tensor PoseToTransformation(const core::Tensor &pose);

core::Tensor TransformationToPose(const core::Tensor &transformation);

void DecodeAndSolve6x6(const core::Tensor &A_reduction,
                       core::Tensor &delta,
                       float &inlier_residual,
                       int &inlier_count);
 
}  // namespace kernel
}  // namespace pipelines
}  // namespace t
}  // namespace open3d