PCL Developers blog

Full roadmap for Frits Florentinus

  • Familiarize myself with Automated Noise Filtering and the TRCS.
    • Get familiar with the blogging system, commiting code, my mentor(s), my co-worker(s) and the other people of the TRCS.
    • Get to know the filters module in PCL; the code structuring, the different filters in there, how to use them, when to use them, basic understanding of their workings.
    • Gather information on what PCL currently has implemented regarding ANF.
    • Gather information on the latest/best/most interesting work in the field of ANF.
    • Determine a more detailed set of goals to achieve during this TRCS regarding ANF.
    • Divide the work with Mattia and form a more detailed roadmap.
  • Test the current PCL filters on the Trimble data sets.
    • Work has been split with Mattia, I will work on: BilateralFilter, ProjectInliers, CropBox, CropHull, RandomSample, NormalSpaceSampling.
    • Analyze the filters for effectiveness in noise removal and time complexity.
    • Set up quantifiable metrics to measure the results.
  • Bugfix, patch and enhance the PCL filters module.
    • Make all filters that are about point removal derive from FilterIndices instead of Filter.
    • Move the getRemovedIndices() system from Filter to FilterIndices.
    • Implement the getRemovedIndices() system for all the derived filters.
    • Implement the MixedPixel class in PCL.
  • Give shape to the ANF system.
    • Aim to minimize the amount of input parameters of such a system.
    • Create an intuitive hierarchy for different levels of analysis (e.g. SRAM level, segmentation level, classification level).
    • Create an intuitive class structuring based on this hierarchy, but one that also focuses on useful interaction between the classes.
    • Implement the weighting system instead of binary classification.
    • Devise an understandble user interface.
  • Implementation of the ANF system.
    • Set up a ground and wall segmentation class.
    • Set up a point cloud clustering class.
    • Set up a working pipeline interface incorporating all of the ideas.
    • Refine all stages to be more robust and adaptive in its automatic parametrization.
  • Other things to do after full system is working:
    • Implement the MixedPixel class in PCL.
    • Work on the filters module clean up.
    • Look into the possibilities of a weighting system and SRAM.