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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include "open3d/pipelines/registration/Feature.h"
#include "open3d/geometry/PointCloud.h"
#include "pybind/docstring.h"
#include "pybind/pipelines/registration/registration.h"
namespace open3d {
namespace pipelines {
namespace registration {
void pybind_feature_declarations(py::module &m_registration) {
py::class_<Feature, std::shared_ptr<Feature>> feature(
m_registration, "Feature",
"Class to store featrues for registration.");
m_registration.attr("m") =
py::module_::import("typing").attr("TypeVar")("m");
m_registration.attr("n") =
py::module_::import("typing").attr("TypeVar")("n");
}
void pybind_feature_definitions(py::module &m_registration) {
// open3d.registration.Feature
auto feature = static_cast<py::class_<Feature, std::shared_ptr<Feature>>>(
m_registration.attr("Feature"));
py::detail::bind_default_constructor<Feature>(feature);
py::detail::bind_copy_functions<Feature>(feature);
feature.def("resize", &Feature::Resize, "dim"_a, "n"_a,
"Resize feature data buffer to ``dim x n``.")
.def("dimension", &Feature::Dimension,
"Returns feature dimensions per point.")
.def("num", &Feature::Num, "Returns number of points.")
.def("select_by_index", &Feature::SelectByIndex,
"Function to select features from input Feature group into "
"output Feature group.",
"indices"_a, "invert"_a = false)
.def_readwrite("data", &Feature::data_,
"``dim x n`` float64 numpy array: Data buffer "
"storing features.")
.def("__repr__", [](const Feature &f) {
return std::string(
"Feature class with "
"dimension "
"= ") +
std::to_string(f.Dimension()) +
std::string(" and num = ") + std::to_string(f.Num()) +
std::string("\nAccess its data via data member.");
});
docstring::ClassMethodDocInject(m_registration, "Feature", "dimension");
docstring::ClassMethodDocInject(m_registration, "Feature", "num");
docstring::ClassMethodDocInject(m_registration, "Feature", "resize",
{{"dim", "Feature dimension per point."},
{"n", "Number of points."}});
docstring::ClassMethodDocInject(
m_registration, "Feature", "select_by_index",
{{"indices", "Indices of features to be selected."},
{"invert",
"Set to ``True`` to invert the selection of indices."}});
m_registration.def("compute_fpfh_feature", &ComputeFPFHFeature,
"Function to compute FPFH feature for a point cloud",
"input"_a, "search_param"_a);
docstring::FunctionDocInject(
m_registration, "compute_fpfh_feature",
{{"input", "The Input point cloud."},
{"search_param", "KDTree KNN search parameter."}});
m_registration.def(
"correspondences_from_features", &CorrespondencesFromFeatures,
"Function to find nearest neighbor correspondences from features",
"source_features"_a, "target_features"_a, "mutual_filter"_a = false,
"mutual_consistency_ratio"_a = 0.1f);
docstring::FunctionDocInject(
m_registration, "correspondences_from_features",
{{"source_features", "The source features stored in (dim, N)."},
{"target_features", "The target features stored in (dim, M)."},
{"mutual_filter",
"filter correspondences and return the collection of (i, j) s.t. "
"source_features[i] and target_features[j] are mutually the "
"nearest neighbor."},
{"mutual_consistency_ratio",
"Threshold to decide whether the number of filtered "
"correspondences is sufficient. Only used when mutual_filter is "
"enabled."}});
}
} // namespace registration
} // namespace pipelines
} // namespace open3d
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