Open3D (C++ API)  0.18.0
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TransformationConverter.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
10#include "open3d/core/Tensor.h"
11
12namespace open3d {
13namespace t {
14namespace pipelines {
15namespace kernel {
16
23core::Tensor RtToTransformation(const core::Tensor &R, const core::Tensor &t);
24
31core::Tensor PoseToTransformation(const core::Tensor &pose);
32
39core::Tensor TransformationToPose(const core::Tensor &transformation);
40
48void DecodeAndSolve6x6(const core::Tensor &A_reduction,
49 core::Tensor &delta,
50 float &inlier_residual,
51 int &inlier_count);
52
53} // namespace kernel
54} // namespace pipelines
55} // namespace t
56} // namespace open3d
core::Tensor TransformationToPose(const core::Tensor &transformation)
Convert transformation matrix to pose.
Definition TransformationConverter.cpp:118
void DecodeAndSolve6x6(const core::Tensor &A_reduction, core::Tensor &delta, float &inlier_residual, int &inlier_count)
Decodes a 6x6 linear system from a compressed 29x1 tensor.
Definition TransformationConverter.cpp:144
core::Tensor PoseToTransformation(const core::Tensor &pose)
Convert pose to the transformation matrix.
Definition TransformationConverter.cpp:72
core::Tensor RtToTransformation(const core::Tensor &R, const core::Tensor &t)
Convert rotation and translation to the transformation matrix.
Definition TransformationConverter.cpp:24
Definition PinholeCameraIntrinsic.cpp:16