Refactor the current ClassVoxel implementation with member methods of specific voxels.
Additionally
Move VoxelAccuracy to ClassVoxelLayer and provide getVoxelUncertainty() in layer
Move Uncertainty Decay Rate to Parameters.
Not specific to your code, but more of a general design consideration: Changing all these functions to members of the specific voxels and writing a wrapper of the ClassVoxelLayer might be a cleaner solution?
Refactor the current ClassVoxel implementation with member methods of specific voxels. Additionally
Not specific to your code, but more of a general design consideration: Changing all these functions to members of the specific voxels and writing a wrapper of the ClassVoxelLayer might be a cleaner solution?
_Originally posted by @Schmluk in https://github.com/ethz-asl/panoptic_mapping/pull/19#r721457508_
These feel like they should be parameters (of the integrator or similar). Avoid using pre-compiler macros where possible.
_Originally posted by @Schmluk in https://github.com/ethz-asl/panoptic_mapping/pull/19#discussion_r721438794_