Hi, first of all great work on VAMP — it is running very fast on our robot, and we are now using it successfully in real time 👍

We had a question regarding the capt tree lifecycle.

At the moment, the capt tree is created and initialized at every control cycle. From a control-loop perspective, this is quite expensive, especially when the incoming point cloud changes only slightly between cycles.

We were wondering:

Is there currently a way (or a planned approach) to initialize the tree once and then update it incrementally at each control cycle with the new incoming points?

This could significantly reduce computation while preserving behavior in slowly varying environments.

Thanks again for the great work!