API to pass mean and normals directly for ground alignment - #116
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saurabh1002
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benemer,
mehermvr and
tizianoGuadagnino
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July 20, 2026 12:24
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Provide an API overload to pass the voxel map's per-voxel mean and normals directly to the ground alignment module.
Previously, this was done by passing a point cloud extracted from the voxel map, then re-creating another voxel map using these points to compute the per-voxel means and normals. \
This was an unnecessary compute bottleneck to maintain API continuity.
The overloaded functions solve this issue for now. The old API will be deprecated in a future release, parallely modifying KISS-SLAM, which also relies on the previous API.