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Avoid rebuilding KD-trees

Nicolas Cadart requested to merge AvoidRebuildKdTree into master

The goal is to avoid rebuilding KD-trees when its not necessary.

  • In normal SLAM mode, the KD-tree is rebuilt only if a newframe has been added. Therefore, the same KDTree is used for all scans between 2 keyframes, as we expect all these scans to be similar and acquired from nearly the same pose. This behavior brings a common 10% speedup.
  • In Localization only mode (UpdateMap = false): a KD-tree covering the entire map is built only once. This behavior leads to a common 20% speedup.

@julia.sanchez @nick.laurenson PTAL

Edited by Nicolas Cadart

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