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You still can try, but I'm not sure it will be relevant. It exists interesting points for depth maps (see PCL for example), but not included in OpenCV so far. By the way, you have to train two separated classifiers for that purpose (one in color/gray level and one for depth images). Moreover, depth maps are not aligned with RGB images, you have to correctly use you depth detector. Nevertheless, it could be useful to have depth-based interest points, let us know what kind you have selected.
