Future features

classic Classic list List threaded Threaded
11 messages Options
Reply | Threaded
Open this post in threaded view
|

Future features

CodingJack
Hi,
I would like to know what you think are the most important future features missing in pcl or at least what direction the development should take. In my opinion pcl is lacking performance right now and needs a good gpu interface to scale with the increasing point cloud size of new depth sensors.
Reply | Threaded
Open this post in threaded view
|

Re: Future features

VictorL
These are not features but I think it's the most important:

1. PCL compilable on Linux / MacOS X / Windows without hassle.
2. Working/updated binaries for Windows; half of the questions on the mailing list are about using old versions of PCL or compiling errors with trunk/releases.
3. Improve documentation; that's a lot of (boring) work.

Bye
Reply | Threaded
Open this post in threaded view
|

Re: Future features

CodingJack
Yeah you could say future improvements or future effort :D anyway I think you understood the question
Reply | Threaded
Open this post in threaded view
|

Re: Future features

Romain Brégier
Hi,

Indeed Windows bundles would be great.

The current templating system for points makes PCL really unhandy  in my opinion. Is there any news regarding the project of a 2.0 version?
    The use of channels as it was suggested for a 2.0 version, or even simpler different containers for each modality would make things a lot easier to read, code and make the different classes interoperate.
    Actually this last option is already half implemented, some functions taking for example points and normals as separate arguments, thus I do not really understand what  are the design choices here.
    Regarding performances, the current design is also highly questionable according to me.
If you manipulate let's say points including a lot of additional data and but are only interested in 3D coordinates, the CPU won't be able to cache as much useful information as it would have done if  3D data was stored contiguously thus leading to performances issues.

Lastly, data is aligned and elements size has to be multiple of 128bits for "SSE optimisation". Why not, but I have never seen SIMD optimization in PCL code, even for basic functions often called like 3D point transformation (at least use Eigen instead of matrix multiplication by hand, assembly code could gain at least a factor 4 over Eigen in a bench we did but would make it architecture and compiler dependent). I think those issues should be adressed before thinking about deporting code on GPU.

PS : I criticize here with improvement in mind. PCL is a great effort to federate people of the field. 

Best regards,
Romain


Le 21/01/2015 16:43, CodingJack a écrit :
Yeah you could say future improvements or future effort :D anyway I think you
understood the question



--
View this message in context: http://www.pcl-developers.org/Future-features-tp5709751p5709753.html
Sent from the Point Cloud Library (PCL) Developers mailing list mailing list archive at Nabble.com.
_______________________________________________
PCL-developers mailing list
[hidden email]
http://pointclouds.org/mailman/listinfo/pcl-developers
http://pointclouds.org

--
Romain BREGIER
Logo
          Sileane
www.sileane.com
23, rue Descartes 42000 SAINT ETIENNE - France

Tel +33 (0)4 77 79 03 71 - Fax +33 (0)4 77 74 50 86

_______________________________________________
PCL-developers mailing list
[hidden email]
http://pointclouds.org/mailman/listinfo/pcl-developers
http://pointclouds.org
Reply | Threaded
Open this post in threaded view
|

Re: Future features

kwaegel
Administrator
In reply to this post by VictorL
VictorL wrote
1. PCL compilable on Linux / MacOS X / Windows without hassle.
2. Working/updated binaries for Windows; half of the questions on the mailing list are about using old versions of PCL or compiling errors with trunk/releases.
I looked into creating binary installers for Windows, and it turned out to be a huge hassle until VTK 6 is supported (allowing the use of the Qt 5 installer). The git logs seem to show that VTK6 support is progressing, so it might be worth trying again.

The difficulty with robust Windows support is 1) I think the main PCL dev's don't use Windows, and 2) the continuous integration server only targets GCC and Clang, so Windows build errors are not immediately caught. PCL can't address this directly, and there is a 3-year old bug requesting Windows support on Travis-CI.
Reply | Threaded
Open this post in threaded view
|

Re: Future features

Ber461
In reply to this post by VictorL
I'm all in for improving the documentation of PCL. Actually Victor, I still have the writing of new tutorials as a pending task, don't you think I've forgotten about that. Sadly I've been overwhelmed with work since last summer, my tutor doesn't consider the tutorials a critical task. But sooner or later I will do it! :D
Reply | Threaded
Open this post in threaded view
|

Re: Future features

Aurel W.
+1 on Documentation (and maybe clearing up problems in the interfaces
if they arise).

There are classes which are fully documented with doxygen with next to
zero information compared to the plane method and attribute names. I
sometimes feel lost and have not the slightes idea how a particular
interface works or which functionality it provides.

Aurel

On 18 February 2015 at 10:16, Ber461 <[hidden email]> wrote:

> I'm all in for improving the documentation of PCL. Actually Victor, I still
> have the writing of new tutorials as a pending task, don't you think I've
> forgotten about that. Sadly I've been overwhelmed with work since last
> summer, my tutor doesn't consider the tutorials a critical task. But sooner
> or later I will do it! :D
>
>
>
> --
> View this message in context: http://www.pcl-developers.org/Future-features-tp5709751p5709785.html
> Sent from the Point Cloud Library (PCL) Developers mailing list mailing list archive at Nabble.com.
> _______________________________________________
> PCL-developers mailing list
> [hidden email]
> http://pointclouds.org/mailman/listinfo/pcl-developers
> http://pointclouds.org
_______________________________________________
PCL-developers mailing list
[hidden email]
http://pointclouds.org/mailman/listinfo/pcl-developers
http://pointclouds.org
Reply | Threaded
Open this post in threaded view
|

Re: Future features

Bruno Martin
Hello,

The functionalities of PCL are great but as PCL gets more mature, I think two "software engineering" areas particularly need attention.

1) Set an automatic build process and regression testing on multiple platforms


For this, we need to be able to generate a clean and complete installer automatically for any revision of the software, install it on different machines and run minimum unit tests for each modules.  This process should be automated and launch after each accepted pull request.

A good example of this is the Boost regression board

I know it takes a lot of work to get this with a library as big and with as many dependencies as PCL but the payback in quality would be huge.

2) Improve and uniformize the documentation.

That is boring but would also improve the usability and understanding of PCL.  For example, the impact, valid range of values and guideline on how to set different algorithm parameters need to be more documented.

Again, see for example OpenCV doc or CGAL doc.


Reply | Threaded
Open this post in threaded view
|

Re: Future features

Ray D Weger, RPLS
I am Practicing Land Surveyor and Geospatial specialist. I have been working with Static & Mobile Terrestrial LiDAR and Aerial mapping / LiDAR from both fixed wing and helicopter platforms on various engineering , mechanical, structural & architectural project. I have experience in Terra Scan, Cyclone and microstation. I am in the process of teaching myself Linux (ubuntu 14.04) specifically to see if PCL / Linux platform is a viable Point Cloud Platform (or can be) for daily Production. 

I have attepted to install the latest Stable Version on Ubuntu 14.04 desktop but being new at Linux and PCL not being a one click install package i was not able to get PCL to load. 

Please give some feedback as to installation instructions and if there are any Work Flow documents available.

Ray Weger  

On Wed, Feb 18, 2015 at 10:12 AM, Bruno Martin <[hidden email]> wrote:
Hello,

The functionalities of PCL are great but as PCL gets more mature, I think
two "software engineering" areas particularly need attention.

1) Set an automatic build process and regression testing on multiple
platforms


For this, we need to be able to generate a clean and complete installer
automatically for any revision of the software, install it on different
machines and run minimum unit tests for each modules.  This process should
be automated and launch after each accepted pull request.

A good example of this is the  Boost regression board
<http://www.boost.org/development/tests/master/developer/summary.html>

I know it takes a lot of work to get this with a library as big and with as
many dependencies as PCL but the payback in quality would be huge.

2) Improve and uniformize the documentation.

That is boring but would also improve the usability and understanding of
PCL.  For example, the impact, valid range of values and guideline on how to
set different algorithm parameters need to be more documented.

Again, see for example  OpenCV doc <http://docs.opencv.org/>   or  CGAL doc
<http://doc.cgal.org/latest/Manual/index.html>  .






--
View this message in context: http://www.pcl-developers.org/Future-features-tp5709751p5709788.html
Sent from the Point Cloud Library (PCL) Developers mailing list mailing list archive at Nabble.com.
_______________________________________________
PCL-developers mailing list
[hidden email]
http://pointclouds.org/mailman/listinfo/pcl-developers
http://pointclouds.org



--
Ray D Weger, RPLS
(210) 560-3685 Google Voice

_______________________________________________
PCL-developers mailing list
[hidden email]
http://pointclouds.org/mailman/listinfo/pcl-developers
http://pointclouds.org
Reply | Threaded
Open this post in threaded view
|

Re: Future features

VictorL
Hello,

To install the latest Point Cloud Library release on Linux, please refer to the download page:
http://www.pointclouds.org/downloads/linux.html

Bye
Reply | Threaded
Open this post in threaded view
|

Re: Future features

Ber461
In reply to this post by Ray D Weger, RPLS
Ray, maybe you will find this tutorial from my wiki useful.

But please do not use this mailing list to get support, this one is for internal development. The user mailing list is here. If you get stuck with some step, go there and post a new thread telling us your problem.