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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// 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.
// ----------------------------------------------------------------------------
#include "open3d/t/pipelines/registration/Feature.h"
#include "open3d/t/geometry/PointCloud.h"
#include "open3d/utility/Logging.h"
#include "pybind/docstring.h"
#include "pybind/t/pipelines/registration/registration.h"
namespace open3d {
namespace t {
namespace pipelines {
namespace registration {
void pybind_feature(py::module &m) {
m.def("compute_fpfh_feature", &ComputeFPFHFeature,
py::call_guard<py::gil_scoped_release>(),
R"(Function to compute FPFH feature for a point cloud.
It uses KNN search (Not recommended to use on GPU) if only max_nn parameter
is provided, Radius search (Not recommended to use on GPU) if only radius
parameter is provided, and Hybrid search (Recommended) if both are provided.)",
"input"_a, "max_nn"_a = 100, "radius"_a = py::none());
docstring::FunctionDocInject(
m, "compute_fpfh_feature",
{{"input",
"The input point cloud with data type float32 or float64."},
{"max_nn",
"[optional] Neighbor search max neighbors parameter.[Default = "
"100]"},
{"radius",
"[optional] Neighbor search radius parameter. [Recommended ~5x "
"voxel size]"}});
}
} // namespace registration
} // namespace pipelines
} // namespace t
} // namespace open3d
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