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ethz-asl / panoptic_mapping

A flexible submap-based framework towards spatio-temporally consistent volumetric mapping and scene understanding.
BSD 3-Clause "New" or "Revised" License
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Refactor ClassVoxel Management #29

Closed renezurbruegg closed 2 years ago

renezurbruegg commented 2 years ago

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_

Schmluk commented 2 years ago

Class voxel abstraction implemented in #37 :)