Crop map at voxel resolution

[victorreijgwart]

Description

TODO: Thank you for opening a PR! Please summarize the changes in 1–2 sentences.

Type of change

• [ ] Bug fix (non-breaking change which fixes an issue)
• [x] New feature (non-breaking change which adds functionality)
• [ ] Breaking change (fix or feature that causes existing functionality to not work as expected)
• [ ] Other (please describe):

Detailed Summary

TODO: Provide the motivation, context, and links to any related issues, PRs, or documentation:

• Motivation: Why is this change necessary?
• Context: How does it fit into wavemap's functionality?
• Related issues/PRs: Fixes # (issue) / Links to other PRs

API Changes

TODO: List any changes to wavemap's APIs to help users update their code. Write "None" if there are no changes.

C++ API:

*

Python API:

*

ROS1 Interface:

*

Review Notes

TODO: Is there anything specific the reviewers should focus on, or are there unresolved questions? Mention them here.

Testing

Automated Tests

TODO: Have you added or modified unit tests to verify these changes? If not, let us know if you'd like assistance.

Manual Tests

TODO: If manual tests were performed to verify these changes, describe them here and include instructions to reproduce them. Describe test configurations where applicable.

System information (optional):

• CPU: [e.g., Intel i9-9900K]
• GPU: [e.g., Nvidia RTX 2080Ti]
• RAM: [e.g., 32GB]
• OS: [e.g., Ubuntu 20.04]
• API: [e.g., C++, Python, ROS1]
• Installation: [e.g., pre-built Docker, local CMake, Pip, catkin]

Runtime information (optional):

• Launch file: [e.g., Link or GitHub Gist]
• Config file: [e.g., Link or GitHub Gist]
• Dataset name (if public): [e.g., Newer College Cloister]
• Custom setup (for private datasets, or live usage):
  • Depth sensor: [e.g., Livox MID360 LiDAR]
  • Pose source: [e.g., Odometry from FastLIO2]

For performance or accuracy-related changes, include the above system and runtime information and describe:

• Performance (optional)
  • Measured operation: [e.g. serializing the map, performing 1M queries, processing dataset X]
  • Metrics [e.g., CPU time, wall time, total RAM usage]
• Accuracy (optional)
  • Metrics: [e.g., AUC, accuracy, recall]
• Summary of changes
  • What metrics improved and by how much?
  • Did any metrics worsen?

Benchmarks (To be completed by maintainers)

TODO: We will rerun wavemap's benchmarks and report the results here to validate there are no general performance/accuracy regressions.

Checklist

General

• [x] My code follows the style guidelines of this project
• [ ] I have performed a self-review of my code
• [ ] I have commented my code, particularly in hard-to-understand areas
• [ ] I have added or updated tests as required
• [x] Any required changes in dependencies have been committed and pushed

Documentation (where applicable)

• [ ] I have updated the installation instructions (in docs/pages/installation)
• [ ] I have updated the code's inline API documentation (e.g., docstrings)
• [ ] I have updated the parameter documentation (in docs/pages/parameters)
• [ ] I have updated/extended the tutorials (in docs/pages/tutorials)