ComputeTransform.h

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#pragma once

#include "open3d/core/Tensor.h"
#include "open3d/t/pipelines/registration/Registration.h"

namespace open3d {
namespace t {
namespace pipelines {
namespace kernel {

core::Tensor ComputePosePointToPlane(
        const core::Tensor &source_points,
        const core::Tensor &target_points,
        const core::Tensor &target_normals,
        const pipelines::registration::CorrespondenceSet &correspondences);

std::tuple<core::Tensor, core::Tensor> ComputeRtPointToPoint(
        const core::Tensor &source_points,
        const core::Tensor &target_points,
        const pipelines::registration::CorrespondenceSet &correspondences);

}  // namespace kernel
}  // namespace pipelines
}  // namespace t
}  // namespace open3d