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jonysy / miro

A modern computer vision platform.
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Classification #18

Open jonysy opened 7 years ago

jonysy commented 7 years ago
jonysy commented 7 years ago

@akonneker friendly ping 🤙

akonneker commented 7 years ago

@jonysy Hey!

Right, so my current stuff is based on kinectfusion style SLAM algorithms and point cloud segmentation. The geometry μcrate is probably where I'd be most comfortable making some contributions initially, although I have considered taking a crack at optical flow and some of the newer non-patent-encumbered feature detectors like BRISK and AKAZE.

I toyed around a while ago at making a set of geometry types and traits that restrict computations to sensible actions, such as adding vectors to points to make new points. Similar to what has been done in rusttype. I like the concept, but I'm not sure if it would be useful in practice or not.

Do you have many thoughts/plans about geometry (or your initial priorities)?

jonysy commented 7 years ago

@akonneker

Right, so my current stuff is based on kinectfusion style SLAM algorithms and point cloud segmentation.

I would love for this to be a part of the library. I can help (re-)implement the algorithms. If you're okay with that, I'd love to chat (gitter or the IRC).

.. although I have considered taking a crack at optical flow and some of the newer non-patent-encumbered feature detectors like BRISK and AKAZE.

I've implemented a Lucas-Kanade tracker (pyramidal). Optical flow algorithms are pretty straight-forward to implement. I'd love to work on BRISK and AKAZE with you 😃.

The geometry μcrate is probably where I'd be most comfortable making some contributions initially.. Do you have many thoughts/plans about geometry (or your initial priorities)?

Sure! Although I haven't given it much thought, the basic structure has been laid out. I'm actually pretty satisfied with the current package, but I've yet to work on a 3D module for solid geometry.

akonneker commented 7 years ago

@jonysy

I will admit I hadn't taken a look at the existing euclidean geometry module yet. I'll look over it and think about 3D things.

As for SLAM stuff, to get interactive frame rates we'll need GPU acceleration, which as far as I'm aware isn't a solved issue yet. An offline version that is CPU-only would still be interesting, though, and it could be accelerated as soon as the GPU story is settled.

I'm going to be pretty busy through the next month hacking on my ugly c++ code in preparation for a conference deadline, but I'll start lurking on the irc/gitter. I'll sketch out what bits need to be written to have a rusty kinfu clone.

jonysy commented 7 years ago

@akonneker Awesome! Good luck with everything 👍