PointCloudLibrary/pcl

Feature Request: Support PointXYZRGB for GPU octree

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#2,218 opened on Feb 16, 2018

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 (4 comments) (0 reactions) (0 assignees)C++ (4,506 forks)batch import
help wantedkind: requestmodule: gpustatus: stale

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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

Research direction
Study the GPU octree implementation in PCL, identify where PointXYZ is used, and plan how to add an optional RGB field that is stored but not used for tree construction. Look at how PointXYZRGB is handled in the CPU octree for reference.
Tech stack
cpp
Domain
backendcomputer graphics
Issue type
Feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
2
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
Half day
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Active
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Mostly clear
Prerequisites
C++Git
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
65