ikd-Tree
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hku-mars
This repository provides implementation of an incremental k-d tree for robotic applications.
I am doing some rewrite of this ikdtree to adapt my situation. And I find you used nth_element while building a tree. According to my experiments there might be a...
https://github.com/hku-mars/ikd-Tree/issues/22 Right now the header file is "using namespace std". This is considered bad practice, but easy to fix. Additionally is used to put the current thread to sleep. This...
Right now the header file is "using namespace std". This is considered bad practice, but easy to fix. Additionally is used to put the current thread to sleep. This is...
Hi, from what I can see in the code, you are using multiple threads, but all of the calculations are done by the CPU correct? Would it be possible to...
Stack trace (most recent call last): #21 Object "/usr/lib/x86_64-linux-gnu/ld-2.31.so", at 0xffffffffffffffff, in #20 Object "/home/jcwang/code/ws_di-lui-sam/src/di_lui_sam/cmake-build-debug/devel/lib/multi_proxy/multi_proxy_subMapFusion", at 0x555555600ead, in _start #19 Source "../csu/libc-start.c", line 308, in __libc_start_main [0x7ffff45e6082] #18 Source "/home/jcwang/code/ws_di-lui-sam/src/di_lui_sam/src/subMapFusion.cpp",...
你好呀，十分感谢分享工作！ 关于ikdtree 点云插入效率的问题我有个疑问，希望能得到解答： 我在测试的时候发现，在插入点不多的情况下（如300个点）的确效率还可以，时间在2-3ms内；但是当如果插入的是一个瓦片地图（如30000个点）的话，我发现插入效率还不如pcl中的kdtree，我是否可以认为ikdtree目前的版本是比较适合高频少点的插入方式，而不是低频多点的插入方式呢？
https://github.com/hku-mars/ikd-Tree/blob/c0e36a16b6e4d557d3783b16911207f6398dd478/ikd-Tree/ikd_Tree.cpp#L302 ``` if (int(Rebuild_PCL_Storage.size()) > 0){ BuildTree(&new_root_node, 0, Rebuild_PCL_Storage.size()-1, Rebuild_PCL_Storage); // Rebuild has been done. Updates the blocked operations into the new tree pthread_mutex_lock(&working_flag_mutex); pthread_mutex_lock(&rebuild_logger_mutex_lock); int tmp_counter = 0; while...
https://github.com/hku-mars/ikd-Tree/blob/c0e36a16b6e4d557d3783b16911207f6398dd478/ikd-Tree/ikd_Tree.cpp#L896 should be `if(q.size()< k_nearest || (dist_left_node < q.top().dist && dist_right_node < q.top().dist))`
你好，想请问下，如果一个ikd-tree已经建立好，有没有一种快速的方法可以实现把里面所有的点都减去一个相同的xyz坐标，理论上做完这个操作，树原本的结果不会改变
