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关于ikdtree插入效率的问题 #36

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MUZUIXIAOHAI opened this issue Jul 25, 2023 · 0 comments
Open

关于ikdtree插入效率的问题 #36

MUZUIXIAOHAI opened this issue Jul 25, 2023 · 0 comments

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@MUZUIXIAOHAI
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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？
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