ENHANCING PCL USABILITY: A GUI FRONT-END, INTERFACING WITH VTK, IMAGE PROCESSING ON POINT CLOUDS, AND MORE! David Doria
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1 ENHANCING PCL USABILITY: A GUI FRONT-END, INTERFACING WITH VTK, IMAGE PROCESSING ON POINT CLOUDS, AND MORE! David Doria
2 GSOC PROJECTS Object Reconstruction Web-based applications Recognition module improvements New feature descriptors Real-time 3D Applications (Kinect) 3D edge extraction 2D Image Drawing Segmentation Algorithms GPU Particle Filters Graphical Modelbased Segmentation
3 OVERVIEW OF THIS TALK 2D Image Processing (Nikhil Somani) Lightweight GUI Front-end (Jeremie Papon) PCL in PowerPoint (P. Kalogiros G. Popa) PCL/VTK Conversions (R. Rusu, D. Doria) PCL Examples Initiative
4 2D IMAGE PROCESSING (NIKHIL SOMANI) Apply image processing techniques to point cloud data (color and depth) No library dependencies Simple data-types (can be plucked out of PCL and used in other applications with ease!)
5 EXAMPLE Canny edge Gray threshold + Gray dilation
6 FOLLOW-UP WITH 3D PROCESSING
7 2D IMAGE FEATURES Filtering with custom kernels (convolution) Edge detection (Canny, Sobel, Roberts, Prewitt, Laplacian of Gaussian, SUSAN) Morphological operators (grayscale and binary opening, closing, erosion, dilation) 2D keypoint extractors and feature descriptors(harris corner, Harris-Affine, Hessian, blob, SIFT, SURF, HoG, Signatures, MSER)
8 EDGE DETECTION Canny Roberts Prewitt Sobel
9 MORPHOLOGICAL OPERATIONS erosion dilation opening closing
10 KEYPOINT DETECTION (Harris Corners)
11 MORE FEATURES COMING SOON! Image Transformations Euclidean, Similarity, Affine, Projective Segmentation using Graph Cuts : Binary segmentation using min-cut/max-flow. Multi-label optimization using α-expansion and α- β-swap algorithms
12 A GUI FOR PCL Graphical interface for manipulating clouds Allows new users to easily experiment with PCL capabilities Extensible plug-in architecture easy to extend as PCL evolves Multiplatform Qt/VTK Model/View architecture -> flexibility
13 PREVIEW Project Browser Property Inspector & Editor Cloud Viewer Project Model Cloud Cloud Cloud Normals Normals Normals PCL Tools/ Plugins FPFH NARF SHOT
14 PLUGIN SYSTEM Tool Plugin Tool Selector Cloud Composer Project Model Tool Factory Tool Parameter Model Tool Parameter View Cloud 0 Cloud 1 Cloud 2 Undo/Redo Stack Work Queue Cloud Cloud Modify Merge Worker Thread (s) Tool Instance Cloud Working Copy Cloud Command Tool Instance Cloud Command Tool Instance Cloud Cloud Cloud Cloud Split Create Initial State
15 PLUGIN TOOLS Spatial data structures KD-Tree Octree Point selectors Rectangle Lasso Connected Components Registration Iterative Closest Point Normal Distributions Transform Features Normals (F) Point Feature Histograms SHOT
16 PLUGINS Filters Downsample Outlier Removal Segmentation Euclidean Clusters Models- Plane/Cylinder/Sphere Mesh generation/smoothing Greedy triangulation MLS smoothing Concave/Convex Hulls Marching Cubes
17 POINTCLOUDS IN POWERPOINT (P. KALOGIROS, G. POPA) Hard to show a 3D in a single frame Interact with point clouds live during presentations Saves tremendous time getting viewpoints correct for screenshots
18 WORLD PREMIER!
19 VTK/PCL INTERFACE Researchers shouldn t have to choose one or the other Easy to start working with PCL if you are used to working with VTK Handles points, as well as common attributes (normals and colors) Easily apply PCL algorithms to existing VTK datasets
20 VTK/PCL CONVERSIONS vtkstructuredgrid -> pcl::pointcloud (organized) vtkpolydata -> pcl::pointcloud (unorganized) pcl::pointcloud (organized) -> vtkstructuredgrid pcl::pointcloud (unorganized) -> vtkpolydata
21 PCL EXAMPLES INITIATIVE PCL has excellent tutorials Users like to learn by example ITK VTK Can t have a tutorial for every single function
22 EXAMPLES INITIATIVE Modeled after successful VTK/ITK examples Store examples directly in main repository Give anyone who asks commit access to the examples/ directory
23 HOMEWORK Go home, install PCL Start learning PCL When you have your first question, solve it (perhaps ask the mailing list) Turn it into an example and send it to the mailing list
24 SUMMARY Many exciting new additions Thanks Google Summer of Code! Please contribute!
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