Is there documentation regarding the method types and other parameters for ndt_mapping? Most of the settings are straightforward, but some are opaque. There is no documentation regarding pcl_anh or pcl_anh_gpu or pcl_openmp as far as I can tell. Does “anh” refer to the adaptive octree region-growing method devised by Anh-Vo? Extracting assumptions with which to justify node settings for map generation is challenging using the source code alone. A simple explanation (or README) would prove very helpful.
Followup question - What are the trade-offs when comparing the use of pcl_generic vs pcl_anh?