Open3D (C++ API)  0.12.0
Namespaces | Functions
ISSKeypoints.cpp File Reference

(313315d (Wed Dec 23 23:39:47 2020 -0800))

#include <Eigen/Core>
#include <Eigen/Eigenvalues>
#include <cmath>
#include <memory>
#include <tuple>
#include <vector>
#include "open3d/geometry/KDTreeFlann.h"
#include "open3d/geometry/Keypoint.h"
#include "open3d/geometry/PointCloud.h"
#include "open3d/utility/Console.h"
#include "open3d/utility/Eigen.h"

Namespaces

 open3d
 
 open3d::geometry
 
 open3d::geometry::keypoint
 

Functions

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. More...