feat: add Patchwork (classic) algorithm alongside Patchwork++ - #79

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LimHyungTae merged 21 commits into

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feat/patchwork-classic

May 9, 2026

Commits on May 9, 2026

docs: add design spec for Patchwork (classic) algorithm support
LimHyungTae
committed
e1cfe97
docs: add implementation plan for Patchwork (classic) algorithm
LimHyungTae
committed
6a0df57
feat(patchwork): scaffold ground_seg_classic target with empty PatchWork class
LimHyungTae
committed
58a0c66
test(patchwork): add C++ smoke test for empty input handling
LimHyungTae
committed
8b9f64c
feat(patchwork): port full PatchworkParams and private state
LimHyungTae
committed
0235a31
feat(patchwork): port CZM init, flush, and polar coord helpers
LimHyungTae
committed
7d05360
feat(patchwork): port pc2regionwise_patches with parametric CZM
LimHyungTae
committed
cdd94a0
feat(patchwork): port estimate_plane PCA fit
LimHyungTae
committed
1655293
feat(patchwork): port extract_initial_seeds with adaptive margin
LimHyungTae
committed
7714a1a
feat(patchwork): port GLE status classifier
LimHyungTae
committed
8a20ee3
feat(patchwork): port per-patch ground segmentation loop
LimHyungTae
committed
2e14f9e
feat(patchwork): port estimate_ground main pipeline with lazy materialize
LimHyungTae
committed
4a92f23
feat(patchwork): port ATAT auto-tuning sensor height
LimHyungTae
committed
02cbfda
build(python): link ground_seg_classic into pypatchworkpp module
LimHyungTae
committed
93f8944
feat(python): expose PatchworkParams and patchwork class via pybind11
LimHyungTae
committed
83dce79
test(python): smoke test for patchwork classic against data/000000.bin
LimHyungTae
committed
9763d9a
feat(ros): dispatch on algorithm parameter (patchwork vs patchworkpp)
LimHyungTae
committed
d32aec3
feat(ros): expose 'algorithm' launch argument
LimHyungTae
committed
5d2042d
docs(readme): add 'Choosing an algorithm' subsection for patchwork vs patchwork++
LimHyungTae
committed
f6b38db
chore: bump version to 1.1.0 (adds Patchwork classic algorithm)
LimHyungTae
committed
9d14a5e
style: apply pre-commit auto-fixes (clang-format, isort, mdformat)
LimHyungTae
committed
96c9170

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feat: add Patchwork (classic) algorithm alongside Patchwork++ - #79

feat: add Patchwork (classic) algorithm alongside Patchwork++#79
LimHyungTae merged 21 commits into
masterfrom
feat/patchwork-classic

Commits on May 9, 2026

docs: add design spec for Patchwork (classic) algorithm support

docs: add implementation plan for Patchwork (classic) algorithm

feat(patchwork): scaffold ground_seg_classic target with empty PatchWork class

test(patchwork): add C++ smoke test for empty input handling

feat(patchwork): port full PatchworkParams and private state

feat(patchwork): port CZM init, flush, and polar coord helpers

feat(patchwork): port pc2regionwise_patches with parametric CZM

feat(patchwork): port estimate_plane PCA fit

feat(patchwork): port extract_initial_seeds with adaptive margin

feat(patchwork): port GLE status classifier

feat(patchwork): port per-patch ground segmentation loop

feat(patchwork): port estimate_ground main pipeline with lazy materialize

feat(patchwork): port ATAT auto-tuning sensor height

build(python): link ground_seg_classic into pypatchworkpp module

feat(python): expose PatchworkParams and patchwork class via pybind11

test(python): smoke test for patchwork classic against data/000000.bin

feat(ros): dispatch on algorithm parameter (patchwork vs patchworkpp)

feat(ros): expose 'algorithm' launch argument

docs(readme): add 'Choosing an algorithm' subsection for patchwork vs patchwork++

chore: bump version to 1.1.0 (adds Patchwork classic algorithm)

style: apply pre-commit auto-fixes (clang-format, isort, mdformat)