// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2023 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------

#pragma once

#include "open3d/core/Tensor.h"

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

void ComputeOdometryResultPointToPlane(
        const core::Tensor &source_vertex_map,
        const core::Tensor &target_vertex_map,
        const core::Tensor &target_normal_map,
        const core::Tensor &intrinsics,
        const core::Tensor &init_source_to_target,
        core::Tensor &delta,
        float &inlier_residual,
        int &inlier_count,
        const float depth_outlier_trunc,
        const float depth_huber_delta);

void ComputeOdometryResultIntensity(const core::Tensor &source_depth,
                                    const core::Tensor &target_depth,
                                    const core::Tensor &source_intensity,
                                    const core::Tensor &target_intensity,
                                    const core::Tensor &target_intensity_dx,
                                    const core::Tensor &target_intensity_dy,
                                    const core::Tensor &source_vertex_map,
                                    const core::Tensor &intrinsics,
                                    const core::Tensor &init_source_to_target,
                                    core::Tensor &delta,
                                    float &inlier_residual,
                                    int &inlier_count,
                                    const float depth_outlier_trunc,
                                    const float intensity_huber_delta);

void ComputeOdometryResultHybrid(const core::Tensor &source_depth,
                                 const core::Tensor &target_depth,
                                 const core::Tensor &source_intensity,
                                 const core::Tensor &target_intensity,
                                 const core::Tensor &target_depth_dx,
                                 const core::Tensor &target_depth_dy,
                                 const core::Tensor &target_intensity_dx,
                                 const core::Tensor &target_intensity_dy,
                                 const core::Tensor &source_vertex_map,
                                 const core::Tensor &intrinsics,
                                 const core::Tensor &init_source_to_target,
                                 core::Tensor &delta,
                                 float &inlier_residual,
                                 int &inlier_count,
                                 const float depth_outlier_trunc,
                                 const float depth_huber_delta,
                                 const float intensity_huber_delta);

void ComputeOdometryInformationMatrix(const core::Tensor &source_vertex_map,
                                      const core::Tensor &target_vertex_map,
                                      const core::Tensor &intrinsic,
                                      const core::Tensor &source_to_target,
                                      const float square_dist_thr,
                                      core::Tensor &information);

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