PointCloudLibrary / PointCloudLibrary/pcl
[common/search] 2D versions of `pcl::getPointsInBox` and `cropBoxFilter`
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- Dominant language
- C++
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Description
Is your feature request related to a problem? Please describe.
For some operations, e.g. 2D map creation from 3D point cloud, it is useful to search for points in certain XY range, with unconstrained Z.
Context
Robotic mapping, cloud points belonging to the same "column of air" above/below a 2D region (e.g. cell of a 2D grid/map).
Goal
Potential speedups on slow CPUs.
Expected behavior
Ability to set lower/upper bounds only for X and Y, skipping comparisons of Z values in pcl::getPointsInBox and cropBoxFilter (at most 1/3 of the numerical comparisons likely to be skipped).
Current Behavior
User is forced to pass min/max allowed Z value.
Additional Notes
Ideally the same way of reasoning would be applicable to search/indexing methods like Octree (--> only a Quadtree would be needed for such applications).
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
Locate pcl::getPointsInBox and cropBoxFilter and review how their bounds are currently applied. Define 2D variants that constrain X and Y while leaving Z unconstrained, then verify that both APIs support the stated point-cloud mapping use case without requiring artificial Z limits.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision, robotics
- Issue type
- Feature
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 35/100