Have you done an accuracy comparison between original and your version?

[juliangaal]

In any case, nice work.

I personally optimized LIO-SAM with nanoflann_pcl and replaces all instances of radius search with knn search to reach a 2x speedup. GPU based knn search would have been my next step.

[arjunskumar]

@juliangaal where i can find your implementation? does moving to nanoflann_pcl reduce the CPU usage?