text: /**
   * Copyright (c) 2020 Neka-Nat
   * Permission is hereby granted, free of charge, to any person obtaining a copy
   * of this software and associated documentation files (the "Software"), to deal
   * in the Software without restriction, including without limitation the rights
   * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
   * copies of the Software, and to permit persons to whom the Software is
   * furnished to do so, subject to the following conditions:
   * 
   * The above copyright notice and this permission notice shall be included in
   * all copies or substantial portions of the Software.
   * 
   * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
   * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
   * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
   * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
   * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
   * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
   * IN THE SOFTWARE.
  **/
  #pragma once
  
  #include <tuple>
  
  #include "cupoch/camera/pinhole_camera_intrinsic.h"
  #include "cupoch/odometry/odometry_option.h"
  #include "cupoch/odometry/rgbdodometry_jacobian.h"
  #include "cupoch/utility/console.h"
  
  namespace cupoch {
  
  namespace geometry {
  class RGBDImage;
  }
  
  namespace odometry {
  /// Function to estimate 6D odometry between two RGB-D images
  /// output: is_success, 4x4 motion matrix, 6x6 information matrix
  std::tuple<bool, Eigen::Matrix4f, Eigen::Matrix6f> ComputeRGBDOdometry(
          const geometry::RGBDImage &source,
          const geometry::RGBDImage &target,
          const camera::PinholeCameraIntrinsic &pinhole_camera_intrinsic =
                  camera::PinholeCameraIntrinsic(),
          const Eigen::Matrix4f &odo_init = Eigen::Matrix4f::Identity(),
          const RGBDOdometryJacobian &jacobian_method =
                  RGBDOdometryJacobianFromHybridTerm(),
          const OdometryOption &option = OdometryOption());
  
  std::tuple<bool, Eigen::Matrix4f, Eigen::Vector6f, Eigen::Matrix6f>
  ComputeWeightedRGBDOdometry(
          const geometry::RGBDImage &source,
          const geometry::RGBDImage &target,
          const camera::PinholeCameraIntrinsic &pinhole_camera_intrinsic =
                  camera::PinholeCameraIntrinsic(),
          const Eigen::Matrix4f &odo_init = Eigen::Matrix4f::Identity(),
          const Eigen::Vector6f &prev_twist = Eigen::Vector6f::Zero(),
          const RGBDOdometryJacobian &jacobian_method =
                  RGBDOdometryJacobianFromHybridTerm(),
          const OdometryOption &option = OdometryOption());
  
  }  // namespace odometry
  }  // namespace cupoch