cloudViewer.geometry.keypoint.compute_iss_keypoints#

cloudViewer.geometry.keypoint.compute_iss_keypoints(input, salient_radius=0.0, non_max_radius=0.0, gamma_21=0.975, gamma_32=0.975, min_neighbors=5)#

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.

Parameters:

  • input (cloudViewer.geometry.ccPointCloud) – The Input point cloud.

  • salient_radius (SupportsFloat, optional, default=0.0) – The radius of the spherical neighborhood used to detect keypoints.

  • non_max_radius (SupportsFloat, optional, default=0.0) – The non maxima supression radius

  • gamma_21 (SupportsFloat, optional, default=0.975) – The upper bound on the ratio between the second and the first eigenvalue returned by the EVD

  • gamma_32 (SupportsFloat, optional, default=0.975) – The upper bound on the ratio between the third and the second eigenvalue returned by the EVD

  • min_neighbors (SupportsInt, optional, default=5) – Minimum number of neighbors that has to be found to consider a keypoint

Returns:

cloudViewer.geometry.ccPointCloud