ikdtree是否已包括了降采样操作？

hku-mars / ikd-Tree

This repository provides implementation of an incremental k-d tree for robotic applications.

GNU General Public License v2.0

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Closed ouguangjun closed 1 year ago

ouguangjun commented 1 year ago

就是一般维护一个局部map，需要先降采样再构成，比如用pcl voxelgrid来进行体素降采样。ikdtree是否在构建的过程已经完成了降采样，在添加点云时没必要进行额外的降采样操作？期待回答，谢谢！