51 lines
2.3 KiB
C++
51 lines
2.3 KiB
C++
// ----------------------------------------------------------------------------
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// - Open3D: www.open3d.org -
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// ----------------------------------------------------------------------------
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// Copyright (c) 2018-2023 www.open3d.org
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// SPDX-License-Identifier: MIT
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// ----------------------------------------------------------------------------
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// @author Ignacio Vizzo [ivizzo@uni-bonn.de]
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//
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// Copyright (c) 2020 Ignacio Vizzo, Cyrill Stachniss, University of Bonn.
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// ----------------------------------------------------------------------------
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#pragma once
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#include <memory>
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namespace open3d {
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namespace geometry {
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class PointCloud;
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namespace keypoint {
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/// \brief Function that computes the ISS Keypoints from an input point
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/// cloud. This implements the keypoint detection module proposed in Yu
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/// Zhong ,"Intrinsic Shape Signatures: A Shape Descriptor for 3D Object
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/// Recognition", 2009. The implementation is inspired by the PCL one.
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///
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/// \param input The input PointCloud where to compute the ISS Keypoints.
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/// \param salient_radius The radius of the spherical neighborhood used to
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/// detect the keypoints
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/// \param non_max_radius The non maxima suppression radius. If non of
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/// the input parameters are specified or are 0.0, then they will be computed
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/// from the input data, taking into account the Model Resolution.
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/// \param gamma_21 The upper bound on the ratio between the second and the
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/// first eigenvalue
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/// \param gamma_32 The upper bound on the ratio between the third and the
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/// second eigenvalue
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/// \param min_neighbors Minimum number of neighbors that has to be found to
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/// consider a keypoint.
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/// \authors Ignacio Vizzo and Cyrill Stachniss, University of Bonn.
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std::shared_ptr<PointCloud> ComputeISSKeypoints(const PointCloud &input,
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double salient_radius = 0.0,
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double non_max_radius = 0.0,
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double gamma_21 = 0.975,
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double gamma_32 = 0.975,
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int min_neighbors = 5);
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} // namespace keypoint
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} // namespace geometry
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} // namespace open3d
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