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hku-mars / BALM

An efficient and consistent bundle adjustment for lidar mapping
GNU General Public License v2.0
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cut voxel for middle node(octo_state = 1) ? #40

Closed huanglilong closed 1 year ago

huanglilong commented 1 year ago

https://github.com/hku-mars/BALM/blob/d91afa959f8dfad8d6e354013b9bd9048f41e597/src/benchmark/bavoxel.hpp#L771

@Zale-Liu looks like cut_func(win_count-1); not need because it has recurrsive call for each leaf node. here: https://github.com/hku-mars/BALM/blob/d91afa959f8dfad8d6e354013b9bd9048f41e597/src/benchmark/bavoxel.hpp#L773

huanglilong commented 1 year ago

for next pose

huanglilong commented 1 year ago

cut_func(win_count-1); not need