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Merged
JanuszBedkowski merged 1 commit into from
Aug 16, 2026
+28 −1,157
Merged

Remove unused #490

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177 changes: 0 additions & 177 deletions apps/lidar_odometry_step_1/enhanced_version_example.cpp
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19 changes: 0 additions & 19 deletions apps/lidar_odometry_step_1/lidar_odometry_utils.h
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Original file line number Diff line number Diff line change
Expand Up @@ -339,14 +339,6 @@ void optimize_lidar_odometry(
const double& convergence_result,
const double& convergence_delta_threshold_outer_rgd);

void optimize_sf(
std::vector<Point3Di>& intermediate_points,
std::vector<Eigen::Affine3d>& intermediate_trajectory,
std::vector<Eigen::Affine3d>& intermediate_trajectory_motion_model,
NDT::GridParameters& rgd_params,
NDTBucketMapType& buckets,
bool useMultithread);

void optimize_sf2(
std::vector<Point3Di>& intermediate_points,
std::vector<Point3Di>& intermediate_points_sf,
Expand All @@ -361,16 +353,6 @@ void optimize_sf2(
double wfi,
double wka);

void optimize_icp(
std::vector<Point3Di>& intermediate_points,
std::vector<Eigen::Affine3d>& intermediate_trajectory,
std::vector<Eigen::Affine3d>& intermediate_trajectory_motion_model,
NDT::GridParameters& rgd_params,
/*NDTBucketMapType &buckets*/ const std::vector<Point3Di>& points_global,
bool useMultithread /*,
bool add_pitch_roll_constraint, const std::vector<std::pair<double, double>> &imu_roll_pitch*/
);

// this function registers initial point cloud to geoferenced point cloud
void align_to_reference(
NDT::GridParameters& rgd_params, std::vector<Point3Di>& initial_points, Eigen::Affine3d& m_g, NDTBucketMapType& buckets);
Expand Down Expand Up @@ -458,7 +440,6 @@ bool compute_step_2(
std::atomic<float>& loProgress,
const std::atomic<bool>& pause,
bool debugMsg);
void compute_step_2_fast_forward_motion(std::vector<WorkerData>& worker_data, LidarOdometryParams& params);

// for reconstructing worker data from step 1 output
bool loadLaz(
Expand Down
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