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Updated OE 22. Module Point Cloud (markdown)

Vadim Pisarevsky
2019-12-18 16:38:54 +08:00
parent 39774efac1
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OE-22.-Module-Point-Cloud.md

@@ -8,7 +8,7 @@
## Introduction and Rationale
The opencv_contrib there is [rgbd](https://github.com/opencv/opencv_contrib/tree/master/modules/rgbd) module that does some point cloud processing. Besides, there is well-known [Point Cloud Library](https://github.com/PointCloudLibrary/pcl) under BSD license, which contains a lot of good stuff that can be ported to OpenCV. While we do not need to move every single piece of the code around the world into OpenCV, it makes sense to build a better foundation for 3D vision and robotics in OpenCV.
In opencv_contrib there is [rgbd](https://github.com/opencv/opencv_contrib/tree/master/modules/rgbd) module that does some point cloud processing. Besides, there is well-known [Point Cloud Library](https://github.com/PointCloudLibrary/pcl) under BSD license, which contains a lot of good stuff that can be ported to OpenCV. While we do not need to move every single piece of the code around the world into OpenCV, it makes sense to build a better foundation for 3D vision and robotics in OpenCV.
## Proposed solution
@@ -16,6 +16,7 @@ Create a dedicated `pclouds` module in the main repository with some assorted al
* algorithm to compute surface normals
* RGBD/visual odometry (compute camera trajectory based on the sequence of RGBD frames it observes)
* registration of (establishing correspondence between) RGB data and depth data coming from different sensors
* 3D filtering (smooth surfaces)
* 3D feature detection (corners)
* maybe kinect fusion (?)
@@ -24,15 +25,16 @@ Create a dedicated `pclouds` module in the main repository with some assorted al
* surface registration (there is dedicated module in opencv_contrib, but it implements a patented algorithm, maybe there are non-patented alternatives)
* 3D shape fitting
* structure from motion? (there is dedicated `sfm` module in opencv_contrib for that)
* building blocks for SLAM (or make it a separate module?)
* ...
## Impact on existing code, compatibility
Overall, this is a loosely covered part of CV in OpenCV, so it's unlikely that many people use those modules.
Overall, this is a loosely covered part of CV in OpenCV, so it's unlikely that many people use the existing `rgbd` module.
## Possible alternatives
it's unlikely that we make a significant part of it by OpenCV 4.0, but eventually it should be done. Perhaps, it should be more than 1 module and perhaps `sfm` and some other parts should stay in opencv_contrib for now.
Perhaps, it should be more than 1 module and perhaps `sfm` and some other parts should stay in opencv_contrib for now.
## References