TransformationConverter.h

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#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);

void DecodeAndSolve6x6(const core::Tensor &A_reduction,
                       core::Tensor &delta,
                       float &inlier_residual,
                       int &inlier_count);

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