PCL Developers blog


First, some notes on the existing code base:


For a small overview on the current state of the pcl_cuda project, see this article.

Here is a detailed, preliminary outline of my GSoC project roadmap:

If there is anything you would like to change about this roadmap, feel free to discuss this with your mentor(s). Milestones will be very broad at the beginning and will be specified in further detail throughout the project.

Milestones / Steps to happiness:

  • Get to know the current code base for pcl_cuda. Install the CUDA SDK and driver, and get the repository to compile. Run the sample programs included in tools. Look at their main functions for arguments (usually when started with any argument (./kinect_ransac foo), it will use the GPU implementation, and CPU otherwise).
  • Documentation: For the remainder of the milestones, while developing, make sure to document all code to allow the mentors to easily follow your train of thought and progress.
  • Together with the mentors, put in place a system to evaluate performance and correctness of the implemented methods.
  • For starters, using the existing RandomSampleConsensus class, implement MSAC (M-estimator SAmple and Consensus). Incrementally, port the existing parametric models and sample consensus algorithms variations to the new framework.
  • Test this first in a simple program (like tools/kinect_ransac) and once it works, also with MultiRandomSampleConsensus à la tools/kinect_multi_ransac.
  • OpenCV has several image algorithms for GPUs, e.g. cv::gpu::meanShiftSegmentation. Implement a bridging layer where we can convert from a structured pcl_cuda::PointCloudAOS to cv::gpu::GpuMat and vice versa.
  • For true 3D cluster segmentation, implement a graph-based region growing segmentation algorithm (see pcl::EuclideanClusterExtraction).
    • For starters, the organized neighborhood search from the normal estimation code could be used.
    • As other GSOC students progress with their projects, it might be possible to use a different spatial locator structure (octree or kd-tree) at this point in order to expand the applicability of these methods to true unstructured 3D point clouds.
    • Since thrust extensively uses functors / function objects, provide a way to pass in different distance functions (e.g. to improve euclidean clustering by specifying color thresholds as well.)