isl-org / Open3D

Open3D: A Modern Library for 3D Data Processing
http://www.open3d.org
Other
11.44k stars 2.31k forks source link

Load / Save KDTreeFlan pcd_tree = o3d.geometry.KDTreeFlann(pcd) #1322

Open tchaton opened 4 years ago

tchaton commented 4 years ago

Is your feature request related to a problem? Please describe. A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]

Hey,

It will be great to have a way to serialize the KDTree built by Flann to pickle file and be able to reload this KDTree for later use.

Especially for DL training, we don't want to lose time re-calculating the KDTree every time the pointcloud is loaded.

Describe the solution you'd like A clear and concise description of what you want to happen.

Describe alternatives you've considered A clear and concise description of any alternative solutions or features you've considered.

Additional context Add any other context or screenshots about the feature request here.

tchaton commented 4 years ago

The code from the binding is just there: https://github.com/jlblancoc/nanoflann/blob/master/examples/saveload_example.cpp