Support add/remove items from the tree about nanoflann

[jlblancoc]

For the records: Working on this idea was finally accepted as part of one project in GSoC 2017:

Algorithm improvements to KD-Tree module: applications to ICP.

[bakercp]

+1 ! :)

[jbensabat]

Hi this a great improvement
Is it available ?
If yes where ?

[vdesaraju]

Do you have an estimate of when this feature will be added? I would love to move my code over to nanoflann, but being able to add/remove points is the one essential feature currently missing.
I'm currently using some other kdtree library that supports add/remove but required me to hack together a (terribly inefficient) knn search.. So nanoflann with this feature would be the best of all worlds.
I hope this will be added soon! Thanks!

[jetliao0909]

look forward to it very much~~
Also I wonder how to efficiently find a nearest neighbor with a minimum radius.
So far I might radiusSearch() to get nMatches and then find the nMatchesth closest, any better ideas?

[jlblancoc]

Hi guys,

I started working on this, as I'm also interested. However, it'll require a complete redesign of the internal data structures, so will take a while...

@jetliao0909 : Perhaps you need to call knnSearch() with just 1 return point? https://github.com/jlblancoc/nanoflann#15-what-can-nanoflann-do

[ColinGilbert]

Out of curiosity, I have been seeking a fast way to do nearest neigbours on dynamic data too; which data structure do you intend on using?

[jbensabat]

we needs trees for the 2D sets of points (point generation as a first step of mesh generation) and particle tracking

[ColinGilbert]

Ok. Somewhat related: Is there currently a feasible way of rebuilding only the part of the tree that changes? (Aside from building several nanoflann instances, that is.)

[jbensabat]

no idea

[bradrothenberg]

Was this added?

[jlblancoc]

Sorry, but it is still in my to-do list... (now focused on finishing another project)

For the records: the theory behind this feature will be the logarithmic method: http://www.cse.cuhk.edu.hk/~taoyf/course/wst501/notes/lec11.pdf

[taiya]

+1

[giorgiomarcias]

+1

[anlif]

👍 :)

[jbensabat]

good morning
is there any progress on this ?
thanks

[CharlieShi]

+1
really looking forward to it

[dfridovi]

Any updates on this?

[jlblancoc]

Not yet, sorry. Still have other projects with much higher priorities... We're proposing this to be a possible task for GSoC2017: https://github.com/MRPT/mrpt/wiki/Ideas-page-for-MRPT-Google-Summer-of-Code-2017

[jlblancoc]

Was about time... this feature has been added in PR #48 by @pranjal-rai .
We'll soon merge the changes into master, so tests and feedback will be more than welcome.