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Templated ikd-Tree is now supported with box search and radius search available. Fixed the submodule url in gitmodule

main
Ecstasy-EC 2021-12-31 09:52:27 +08:00
parent c244f810c6
commit c4e6165d84
3 changed files with 3 additions and 3 deletions
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2
.gitmodules vendored
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@ -1,4 +1,4 @@
[submodule "include/ikd-Tree"] [submodule "include/ikd-Tree"]
path = include/ikd-Tree path = include/ikd-Tree
url = https://github.com/hku-mars/ikd-Tree.git url = git@github.com:hku-mars/ikd-Tree.git
branch = fast_lio branch = fast_lio

2
include/ikd-Tree

@ -1 +1 @@
Subproject commit 7d61b56764c99601c9c5840166da21d6a3b40cf9 Subproject commit d730b71bf1ced2fc2bc0bbb47000f7287252f002

2
src/laserMapping.cpp
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@ -115,7 +115,7 @@ PointCloudXYZI::Ptr _featsArray;
pcl::VoxelGrid<PointType> downSizeFilterSurf; pcl::VoxelGrid<PointType> downSizeFilterSurf;
pcl::VoxelGrid<PointType> downSizeFilterMap; pcl::VoxelGrid<PointType> downSizeFilterMap;
KD_TREE ikdtree; KD_TREE<PointType> ikdtree;
V3F XAxisPoint_body(LIDAR_SP_LEN, 0.0, 0.0); V3F XAxisPoint_body(LIDAR_SP_LEN, 0.0, 0.0);
V3F XAxisPoint_world(LIDAR_SP_LEN, 0.0, 0.0); V3F XAxisPoint_world(LIDAR_SP_LEN, 0.0, 0.0);