Feature request: expose kinfu::ICP to be used with pointclouds directly

[kanugr]

System information (version)

• OpenCV => 4.0.0-beta

Detailed description

At the moment, kinfu::ICP can only be used via rgbd::FastICPOdometry or kinfu::KinFu, which both need depthmaps as input. In the case of preprocessed pointclouds, there are no more depthmaps, so it would be useful to access kinfu::ICP directly with point data. I guess the same can be achieved by overriding FastICPOdometry with my own prepareFrameCache method, but an easier way would be greatly appreciated.

[devanshbatra04]

@savuor can I take this? I want to experiment with reading and writing point clouds in RGBD module.

[savuor]

@devanshbatra04 of course, you can do that if you know how to

[zhuisa]

@devanshbatra04 Hi, do you kown how to save as 3D pointcloud using Kinfu_demo? I can run Kinfu_demo, but I do not kown how to save uMat as point define as uMat. Can you give me a help. Thanks!