Clean more, clean more, clean more #7
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operations on density grid corners
saurabh1002
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Mar 21, 2024
* Reduce code lines and rearrange stuff, need validation * Introduce the DensityMap as struct, use Eigen::Array for min/max operations on density grid corners * You can just move a DensityMap, no copy allowed * Reverse iterator * Use using to make code more understandable * Minimal renaming and const correcteness * use floor for discretization, loop over density grid instead of pcd --------- Co-authored-by: ssg1002 <[email protected]>
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I try to organize a bit the data structures in the code, specifically in the
DensityMap.hpp. Moreover, I try to reduce the code lines into theDensityMap.cppto make everything easy to understand. I will like to continue this process for a couple of rounds @saurabh1002, mostly I am gonna ask your opinion about the changes and to validate the performances on whatever dataset you prefer.For these PR we can make a todo(dream) list of how the API and code structure should look like.