PointCloudLibrary / PointCloudLibrary/pcl
[Fea] support insert point: KdTreeFLANN.insert(pcl::PointT)
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Description
Feature
is it possible to support insertion like using octree/quadtree by implementing the following method?
KdTreeFLANN.insert(pcl::PointT)
to support adding a point into PCL kdtree.
Plausible solution
Here is an example of how to implement insertion, deletion for a kdtree.
http://www.mathcs.emory.edu/~cheung/Courses/554/Syllabus/3-index/kd-tree2.html
Additional feature
Support to insert any objects with an instance of AABB. The AABB can be either set by users or computed using algorithms automatically. And it is AABB' responsibility to judge whether two objects are intercepted or not. This enables complex objects detection.
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
Start with the KdTreeFLANN API and compare its current capabilities with octree/quadtree insertion. Read the linked kd-tree insertion and deletion example, then determine whether the requested point insertion and the broader AABB-based object support belong in one change. Done requires an agreed scope and working insertion behavior for the selected API.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100