Calculate FPFH only in some points

[RubensBenevides]

Checklist

• I have searched for similar issues.
• For Python issues, I have tested with the latest development wheel.
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Proposed new feature or change

One problem with Open3D is that it calculates the FPFH for all points in the cloud, which is not efficient. Ideally, there should be a way of calculating the FPFH only for certain indices, such as the ISS detector keypoints. This has the potential to speed up global registration by several orders of magnitude.

For example, in the registration of clouds from topographic/terrestrial laser scanners, even after reduction by 10 cm voxealization, it is common for the cloud to still have more than 1 million points. But using only ISS keypoints, which are calculated much faster than FPFH, this is reduced to 10,000 points.

So what I'm asking for is just a function that calculates the FPFH on a list of indices of the points in the cloud, not on the whole cloud

Translated with DeepL.com (free version)

References

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Additional information

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[nicolaloi]

I am working on it.