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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# Copyright (c) 2018-2024 www.open3d.org
# SPDX-License-Identifier: MIT
# ----------------------------------------------------------------------------
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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