OE-22 "Point Cloud Module" discussion

[vpisarev]

the feature request about evolution proposal OE-22

[garybradski]

Consider just clean integration with (I know the authors of) Open3D: https://github.com/IntelVCL/Open3D
MIT license, completely compatible.

[saskatchewancatch]

What is the status of this Evolution? I'm looking to start a discussion and yield some actionable work items.

In evolution, @vpisarev suggested to create a pcl module and incorporate algos from calib3d, rgbd, and maybe from the external Point Cloud Library. This is interesting. Gary Bradski suggests clean integration with Open3D, also interesting.

Looking at some the list of suggestions in OE-22 and their statuses:

• RGBD/Visual odometry: rgbd module already has this. Open3D offers some functionality too.

• compute surface normals: an api does not seem to exist specifically for this in calib3d or rgbd modules.

• Stereo correspondence: stereo module seems to have this??

• 3D filtering (smooth surfaces): can't find a direct api for this in OpenCV, PCL offers functionality.

• 3D feature detection (corners): same as above.

• ICP: Surface matching module seems to have this already.

• I'm not sure what "clean integration" with another project like Open3D entails. Perhaps some adapters that adapt OpenCV data types like Mat/Point/Vec to point cloud inputs for Open3D?

It looks like much of the desired stuff already exists in some form in OpenCV 4.x line, in disparate modules, and some useful algos exist in Point Cloud library and Open3D too. So great stuff exists within separate OpenCV modules and some great stuff exists in those external projects. How to reconcile this?

Looking forward to everyone's input on next steps.

[Infinity8sailor]

hey @vpisarev i am interested to look into point cloud module discussion as gsoc project.......
i would like to get reply.....