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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.
# ----------------------------------------------------------------------------
import open3d as o3d
import time
if __name__ == "__main__":
# Compute ISS Keypoints on armadillo pointcloud.
armadillo_data = o3d.data.ArmadilloMesh()
mesh = o3d.io.read_triangle_mesh(armadillo_data.path)
pcd = o3d.geometry.PointCloud()
pcd.points = mesh.vertices
tic = time.time()
keypoints = o3d.geometry.keypoint.compute_iss_keypoints(pcd)
toc = 1000 * (time.time() - tic)
print("ISS Computation took {:.0f} [ms]".format(toc))
mesh.compute_vertex_normals()
mesh.paint_uniform_color([0.5, 0.5, 0.5])
keypoints.paint_uniform_color([1.0, 0.0, 0.0])
o3d.visualization.draw([keypoints, mesh], point_size=5)
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