Open3D (C++ API)  0.18.0+252c867
TransformationConverter.h
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1 // ----------------------------------------------------------------------------
2 // - Open3D: www.open3d.org -
3 // ----------------------------------------------------------------------------
4 // Copyright (c) 2018-2023 www.open3d.org
5 // SPDX-License-Identifier: MIT
6 // ----------------------------------------------------------------------------
7 
8 #pragma once
9 
10 #include "open3d/core/Tensor.h"
11 
12 namespace open3d {
13 namespace t {
14 namespace pipelines {
15 namespace kernel {
16 
23 core::Tensor RtToTransformation(const core::Tensor &R, const core::Tensor &t);
24 
31 core::Tensor PoseToTransformation(const core::Tensor &pose);
32 
39 core::Tensor TransformationToPose(const core::Tensor &transformation);
40 
48 void DecodeAndSolve6x6(const core::Tensor &A_reduction,
49  core::Tensor &delta,
50  float &inlier_residual,
51  int &inlier_count);
52 
53 } // namespace kernel
54 } // namespace pipelines
55 } // namespace t
56 } // namespace open3d
core::Tensor TransformationToPose(const core::Tensor &transformation)
Convert transformation matrix to pose.
Definition: TransformationConverter.cpp:118
void DecodeAndSolve6x6(const core::Tensor &A_reduction, core::Tensor &delta, float &inlier_residual, int &inlier_count)
Decodes a 6x6 linear system from a compressed 29x1 tensor.
Definition: TransformationConverter.cpp:144
core::Tensor PoseToTransformation(const core::Tensor &pose)
Convert pose to the transformation matrix.
Definition: TransformationConverter.cpp:72
core::Tensor RtToTransformation(const core::Tensor &R, const core::Tensor &t)
Convert rotation and translation to the transformation matrix.
Definition: TransformationConverter.cpp:24
Definition: PinholeCameraIntrinsic.cpp:16