The original code was too over-fitted to the SemanticKITTI dataset.
For that reason, I refactored some parts, especially adding sensor configurations and benchmarking the LeGO-LOAM open source in that the author provided their testing parameters (db7fced).
In addition, for clean code, I set Patch struct for better readability (159575d).
Consequently, now it lost the characteristics that Patchwork can easily run by copying and pasting a single hpp file, but I hope this refactoring has some potential (e.g., extending the concept to xy coordinate systems)
The original code was too over-fitted to the SemanticKITTI dataset.
For that reason, I refactored some parts, especially adding sensor configurations and benchmarking the LeGO-LOAM open source in that the author provided their testing parameters (db7fced).
In addition, for clean code, I set
Patchstruct for better readability (159575d).Consequently, now it lost the characteristics that Patchwork can easily run by copying and pasting a single hpp file, but I hope this refactoring has some potential (e.g., extending the concept to xy coordinate systems)