open3d::geometry::keypoint Namespace Reference

Functions
std::shared_ptr< PointCloud >	ComputeISSKeypoints (const PointCloud &input, double salient_radius=0.0, double non_max_radius=0.0, double gamma_21=0.975, double gamma_32=0.975, int min_neighbors=5)
	Function that computes the ISS Keypoints from an input point cloud. This implements the keypoint detection module proposed in Yu Zhong ,"Intrinsic Shape Signatures: A Shape Descriptor for 3D Object Recognition", 2009. The implementation is inspired by the PCL one. More...

Function Documentation

ComputeISSKeypoints()

std::shared_ptr< PointCloud > open3d::geometry::keypoint::ComputeISSKeypoints	(	const PointCloud &	input,
		double	salient_radius = 0.0,
		double	non_max_radius = 0.0,
		double	gamma_21 = 0.975,
		double	gamma_32 = 0.975,
		int	min_neighbors = 5
	)

Function that computes the ISS Keypoints from an input point cloud. This implements the keypoint detection module proposed in Yu Zhong ,"Intrinsic Shape Signatures: A Shape Descriptor for 3D Object Recognition", 2009. The implementation is inspired by the PCL one.

input The input PointCloud where to compute the ISS Keypoints.

Parameters

salient_radius	The radius of the spherical neighborhood used to detect the keypoints
non_max_radius	The non maxima supression radius. If non of the input parameters are specified or are 0.0, then they will be computed from the input data, taking into account the Model Resolution.
gamma_21	The upper bound on the ratio between the second and the first eigenvalue
gamma32	The upper bound on the ratio between the third and the second eigenvalue
min_neighbors	Minimum number of neighbors that has to be found to consider a keypoint.

Authors

Ignacio Vizzo and Cyrill Stachniss, University of Bonn.