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MapsHD / HDMapping Public

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Fork 58
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Reduce repeated computation in lidar odometry#320

Merged

JanuszBedkowski merged 6 commits into

MapsHD:mainMapsHD/HDMapping:mainfrom

bloom256:perf/optimize_lidar_odometrybloom256/HDMapping:perf/optimize_lidar_odometryCopy head branch name to clipboard

Jan 20, 2026

Conversation Commits6 (6)Checks Files changed

Merged

Reduce repeated computation in lidar odometry#320
JanuszBedkowski merged 6 commits into
MapsHD:mainfrom
bloom256:perf/optimize_lidar_odometry

Commits

Commits on Jan 20, 2026

convergence_delta_threshold parameter added to .toml config (lidar_odometry_control section)
bloom256
committed
compute_hessian_indoor and compute_hessian_outdoor moved to separate functions
bloom256
committed
tait-bryan poses precalculated for intermediated trajectory (lidar odometry)
bloom256
committed
perf: use precomputed sin/cos in lidar odometry AtPA/AtPB kernels
bloom256
committed
TODO comment added about possible future optimization
bloom256
committed
style: clang-format
bloom256
committed

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