Registration.h

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// The MIT License (MIT)
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// Copyright (c) 2018-2021 www.open3d.org
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#pragma once

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

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

core::Tensor ComputePosePointToPlane(const core::Tensor &source_positions,
                                     const core::Tensor &target_positions,
                                     const core::Tensor &target_normals,
                                     const core::Tensor &correspondence_indices,
                                     const registration::RobustKernel &kernel);

core::Tensor ComputePoseColoredICP(const core::Tensor &source_positions,
                                   const core::Tensor &source_colors,
                                   const core::Tensor &target_positions,
                                   const core::Tensor &target_normals,
                                   const core::Tensor &target_colors,
                                   const core::Tensor &target_color_gradients,
                                   const core::Tensor &correspondence_indices,
                                   const registration::RobustKernel &kernel,
                                   const double &lambda_geometric);

std::tuple<core::Tensor, core::Tensor> ComputeRtPointToPoint(
        const core::Tensor &source_positions,
        const core::Tensor &target_positions,
        const core::Tensor &correspondence_indices);

core::Tensor ComputeInformationMatrix(
        const core::Tensor &target_positions,
        const core::Tensor &correspondence_indices);

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