Python GIL release for PointCloud::OrientNormals*

tlangmo · Feb 1, 2024 · f735b5a · f735b5a
1 parent 88e2a79
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,3 +1,7 @@
+## 2024-02-01 
+### Added
+- Python GIL release for `PointCloud::OrientNormals*`
+
 ## 2024-02-01 
 ### Added
 - Python GIL release for `PointCloud::EstimateNormals` and `PointCloud::VoxelDownSample`

diff --git a/cpp/pybind/geometry/pointcloud.cpp b/cpp/pybind/geometry/pointcloud.cpp
@@ -131,14 +131,17 @@ void pybind_pointcloud(py::module &m) {
                  "fast_normal_computation"_a = true)
             .def("orient_normals_to_align_with_direction",
                  &PointCloud::OrientNormalsToAlignWithDirection,
+                 py::call_guard<py::gil_scoped_release>(),
                  "Function to orient the normals of a point cloud",
                  "orientation_reference"_a = Eigen::Vector3d(0.0, 0.0, 1.0))
             .def("orient_normals_towards_camera_location",
                  &PointCloud::OrientNormalsTowardsCameraLocation,
+                 py::call_guard<py::gil_scoped_release>(),
                  "Function to orient the normals of a point cloud",
                  "camera_location"_a = Eigen::Vector3d(0.0, 0.0, 0.0))
             .def("orient_normals_consistent_tangent_plane",
                  &PointCloud::OrientNormalsConsistentTangentPlane,
+                 py::call_guard<py::gil_scoped_release>(),
                  "Function to orient the normals with respect to consistent "
                  "tangent planes",
                  "k"_a)