EigenConverter.h

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#pragma once

#include <Eigen/Core>
#include <vector>

#include "open3d/core/Device.h"
#include "open3d/core/Dtype.h"
#include "open3d/core/Tensor.h"
#include "open3d/core/TensorList.h"

namespace open3d {
namespace core {
namespace eigen_converter {

template <class T, int M, int N, int A>
core::Tensor EigenMatrixToTensor(const Eigen::Matrix<T, M, N, A> &matrix) {
    core::Dtype dtype = core::Dtype::FromType<T>();
    Eigen::Matrix<T, M, N, Eigen::RowMajor> matrix_row_major = matrix;
    return core::Tensor(matrix_row_major.data(), {matrix.rows(), matrix.cols()},
                        dtype);
}

Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
TensorToEigenMatrixXd(const core::Tensor &tensor);

Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
TensorToEigenMatrixXf(const core::Tensor &tensor);

Eigen::Matrix<int, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor>
TensorToEigenMatrixXi(const core::Tensor &tensor);

std::vector<Eigen::Vector3d> TensorToEigenVector3dVector(
        const core::Tensor &tensor);

std::vector<Eigen::Vector3i> TensorToEigenVector3iVector(
        const core::Tensor &tensor);

core::Tensor EigenVector3dVectorToTensor(
        const std::vector<Eigen::Vector3d> &values,
        core::Dtype dtype,
        const core::Device &device);

core::Tensor EigenVector3iVectorToTensor(
        const std::vector<Eigen::Vector3i> &values,
        core::Dtype dtype,
        const core::Device &device);

}  // namespace eigen_converter
}  // namespace core
}  // namespace open3d