Add kdtree class to irtgraph.l

[garaemon]

No description provided.

[k-okada]

is this copied from euslib?

[garaemon]

Yes

[k-okada]

• better to have test code
• is there any example to use kdtree with pointcloud/mesh/... data?

◉ Kei Okada

On Sun, Jul 5, 2015 at 3:31 PM, Ryohei Ueda notifications@github.com
wrote:

Yes

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Reply to this email directly or view it on GitHub
#225 (comment).

[furushchev]

This line should be #pragma init (register_ckdtree) ?

CC: @iory

[iory]

I would like to add kd-tree to jskeus.
Should we use ANN or FLANN library?

[k-okada]

we should add test/example code

[iory]

@k-okada

Of course I understand that.
This PR does have not implemented kdtree's algorithm.
Following functions's implementation
https://github.com/garaemon/jskeus/blob/17484d05d0787ce1dc316f000bcb9e3c50858d60/irteus/ckdtree.c#L17-L21

I will add implementation of these.
Which is better, using library like FLANN or implementation by euslisp?

[furushchev]

@iory Searching with keyword 'kdtree_init', I found: https://github.com/jsk-ros-pkg/euslib/blob/a2ed067c10fdac0179f23e5fb758bb0a460b918f/jsk/CANN.C .
Can we re-use this? (it looks it uses FLANN internally, so we need to let jskeus depends on FLANN library.)

Cc: @k-okada

[k-okada]

what do you mean by `This PR does have not implemented kdtree's algorithm.` ?

…

-- ◉ Kei Okada 2018-02-28 18:13 GMT+09:00 Yuki Furuta <notifications@github.com>:

@iory <https://github.com/iory> Searching with keyword 'kdtree_init', I found: https://github.com/jsk-ros-pkg/euslib/blob/ a2ed067c10fdac0179f23e5fb758bb0a460b918f/jsk/CANN.C . Can we re-use this? (it looks it uses FLANN internally, so we need to let jskeus depends on FLANN library.) Cc: @k-okada <https://github.com/k-okada> — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#225 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AAeG3NNlI34M5UcZJXEtjEsfYHdQz9p6ks5tZRi9gaJpZM4FSGOI> .

[furushchev]

@k-okada He means kdtree implementation is originally located at https://github.com/jsk-ros-pkg/euslib/blob/a2ed067c10fdac0179f23e5fb758bb0a460b918f/jsk/CANN.C separately from cKdTree.c in former jskeusgl and not is NOT included in this pull request (maybe @garaemon forgot to git add the file).