Visualization.h

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#pragma once

#include "open3d/core/EigenConverter.h"
#include "open3d/geometry/LineSet.h"
#include "open3d/io/PointCloudIO.h"
#include "open3d/pipelines/registration/PoseGraph.h"
#include "open3d/t/pipelines/registration/Registration.h"
#include "open3d/t/pipelines/slac/ControlGrid.h"
#include "open3d/utility/FileSystem.h"

namespace open3d {
namespace t {
namespace pipelines {
namespace slac {

void VisualizePointCloudCorrespondences(const t::geometry::PointCloud& tpcd_i,
                                        const t::geometry::PointCloud& tpcd_j,
                                        const core::Tensor correspondences,
                                        const core::Tensor& T_ij);

void VisualizePointCloudEmbedding(t::geometry::PointCloud& tpcd_param,
                                  ControlGrid& ctr_grid,
                                  bool show_lines = true);

void VisualizePointCloudDeformation(const geometry::PointCloud& tpcd_param,
                                    ControlGrid& ctr_grid);

void VisualizeGridDeformation(ControlGrid& cgrid);

}  // namespace slac
}  // namespace pipelines
}  // namespace t
}  // namespace open3d