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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
// @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_declarations(py::module &m) {
py::module m_keypoint = m.def_submodule("keypoint", "Keypoint Detectors.");
}
void pybind_keypoint_definitions(py::module &m) {
auto m_keypoint = static_cast<py::module>(m.attr("keypoint"));
m_keypoint.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_keypoint, "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"}});
}
} // namespace geometry
} // namespace open3d
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