PointCloudLibrary / PointCloudLibrary/pcl
[segmentation] "Retrieve differences OR similarities between two point clouds with pcl::SegmentDifferences::segment"
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- C++
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Description
Hello, very easy feature request here, but I'm a person very new to C++ and PCL as well.
Currently, pcl::SegmentDifferences::segment is able to return the portion of the "src" point cloud that differs from the "target" point cloud. I would like there to be an option with this to return the portion of the "src" point cloud that is similar to the "target" point cloud.
I believe that besides adding a boolean for the user to set that determines whether we're doing difference or similar, the only line that would need to change is this one:
The new line would be something like
if ((nn_distances[0] > threshold && !getSimiliarInsteadFlag) || (nn_distances[0] < threshold && getSimiliarInsteadFlag))
Thank you!
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 at pcl::SegmentDifferences::segment and inspect how nn_distances[0] is compared with threshold for the existing difference result. Add the requested choice between differences and similarities, then verify that the selected portion of the src point cloud is returned for both modes.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision
- Issue type
- Feature
- Difficulty
- 2/5
- Estimated time
- 1-3 hours
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 45/100