The code for the lidar quadtree looks like some improvements could be made in terms of what needs memory allocated to it, what can be derived, and what can be shared. The smaller these are in memory, the faster they can be allocated and deallocated.
The immediate improvement I can think of would be...
- Making a union between bucket_ and the four child nodes.
- Defining a quadtee metadata structure and holding pointers to that, rather than a string, pointer to cache minder, resolution base, etc.
The code for the lidar quadtree looks like some improvements could be made in terms of what needs memory allocated to it, what can be derived, and what can be shared. The smaller these are in memory, the faster they can be allocated and deallocated.
The immediate improvement I can think of would be...