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chore(ndt_scan_matcher): refactor NDT map update #6505

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anhnv3991
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@anhnv3991 anhnv3991 commented Feb 28, 2024

Description

  • Refactor NDT map update to enable the point cloud conversion to overlap with voxel grid build (in multi-threaded voxel grid build).

Tests performed

None

Effects on system behavior

Not applicable.

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Signed-off-by: anhnv3991 <[email protected]>
@github-actions github-actions bot added the component:localization Vehicle's position determination in its environment. (auto-assigned) label Feb 28, 2024
@SakodaShintaro
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@anhnv3991
This change is not related to multi-threading and appears to be a pure refactoring that does not affect the behavior of NDT. Is it really necessary to merge this PR after the PR?

@anhnv3991
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@SakodaShintaro My bad. You are right. No need to merge it after the NDT OMP PR. Maybe I should change the title to something else?

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@anhnv3991
No problem. Please modify the title and description to make it clear that this is just a refactoring.

@anhnv3991 anhnv3991 changed the title feat(ndt_scan_matcher): multi-threaded NDT voxel grid build chore(ndt_scan_matcher): refactor NDT map update Mar 1, 2024
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Looks Good To Me

@anhnv3991 anhnv3991 enabled auto-merge (squash) March 5, 2024 05:41
@anhnv3991 anhnv3991 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Mar 5, 2024
@anhnv3991 anhnv3991 merged commit eea40ae into autowarefoundation:main Mar 5, 2024
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HansRobo pushed a commit that referenced this pull request Mar 12, 2024
* Tested

Signed-off-by: anhnv3991 <[email protected]>

* style(pre-commit): autofix

---------

Signed-off-by: anhnv3991 <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: Kotaro Yoshimoto <[email protected]>
kaigohirao pushed a commit to kaigohirao/autoware.universe that referenced this pull request Mar 22, 2024
…6505)

* Tested

Signed-off-by: anhnv3991 <[email protected]>

* style(pre-commit): autofix

---------

Signed-off-by: anhnv3991 <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Signed-off-by: kaigohirao <[email protected]>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
…6505)

* Tested

Signed-off-by: anhnv3991 <[email protected]>

* style(pre-commit): autofix

---------

Signed-off-by: anhnv3991 <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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