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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
// @author Ignacio Vizzo [ivizzo@uni-bonn.de]
//
// Copyright (c) 2020 Ignacio Vizzo, Cyrill Stachniss, University of Bonn.
// ----------------------------------------------------------------------------
#include "open3d/geometry/Keypoint.h"
#include "open3d/geometry/PointCloud.h"
#include "pybind/docstring.h"
#include "pybind/geometry/geometry.h"
#include "pybind/geometry/geometry_trampoline.h"
namespace open3d {
namespace geometry {
void pybind_keypoint_methods(py::module &m) {
m.def("compute_iss_keypoints", &keypoint::ComputeISSKeypoints,
"Function that computes the ISS keypoints from an input point "
"cloud. This implements the keypoint detection modules "
"proposed in Yu Zhong, 'Intrinsic Shape Signatures: A Shape "
"Descriptor for 3D Object Recognition', 2009.",
"input"_a, "salient_radius"_a = 0.0, "non_max_radius"_a = 0.0,
"gamma_21"_a = 0.975, "gamma_32"_a = 0.975, "min_neighbors"_a = 5);
docstring::FunctionDocInject(
m, "compute_iss_keypoints",
{{"input", "The Input point cloud."},
{"salient_radius",
"The radius of the spherical neighborhood used to detect "
"keypoints."},
{"non_max_radius", "The non maxima suppression radius"},
{"gamma_21",
"The upper bound on the ratio between the second and the "
"first "
"eigenvalue returned by the EVD"},
{"gamma_32",
"The upper bound on the ratio between the third and the "
"second "
"eigenvalue returned by the EVD"},
{"min_neighbors",
"Minimum number of neighbors that has to be found to "
"consider a "
"keypoint"}});
}
void pybind_keypoint(py::module &m) {
py::module m_submodule = m.def_submodule("keypoint", "Keypoint Detectors.");
pybind_keypoint_methods(m_submodule);
}
} // namespace geometry
} // namespace open3d
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