PointCloudLibrary / PointCloudLibrary/pcl
Feature Request: Support PointXYZRGB for GPU octree
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- Dominant language
- C++
- Stars
- 11.1k
- Forks
- 4.7k
- Avg merge
- 4d 10h
- Merged PRs (30d)
- 6
Description
Your Environment
- Operating System and version: Ubuntu 16.04
- Compiler: GCC 5.4
- PCL Version: Latest in master
Context
Currently the gpu module takes point cloud as pcl::PointXYZ only. It will be great if it can support pcl::PointXYZRGB After building the octree the indices changes compare to the original point cloud, so finding the original color for corresponding point cannot be done. It would be ideal if we can pass the RGB information into the octree. The RGB information does not have to take part in the octree formation or in the search but having the information tagged to the points can help a lot.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
The issue names the GPU octree and pcl::PointXYZ/pcl::PointXYZRGB but no files or tests. Locate the GPU octree entry points and existing point-type handling first; done means RGB data remains associated with points while octree construction and search continue to use the geometric fields.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision
- Issue type
- Feature
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 35/100