Point pair Features

First of all, I would like to thank you for this huge work, very nice work.
So am interested in using open3D in my research and work, the idea is to use your utilities and data structure to develop my own computer vision algorithms (lazy and lame i know lol). right now i would like to start learning about open3d by implementing one of the state of art 3d object detection called "Point Pair Features Based Object Detection and Pose Estimation Revisited " [Bridal 2015]. so i wonder if you have any idea where to starts I mean if you are the devs and you want to add this algorithm to open3D where you guys go first.

Best regards