Remove max_distance_2_

Leave it for other PR
PRBonn · Apr 2, 2024 · 249e7f7 · 249e7f7
1 parent 36bd666
commit 249e7f7
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/cpp/kiss_icp/core/VoxelHashMap.cpp b/cpp/kiss_icp/core/VoxelHashMap.cpp
@@ -88,7 +88,8 @@ void VoxelHashMap::RemovePointsFarFromLocation(const Eigen::Vector3d &origin) {
     for (auto it = map_.begin(); it != map_.end();) {
         const auto &[voxel, voxel_block] = *it;
         const auto &pt = voxel_block.points.front();
-        if ((pt - origin).squaredNorm() > (max_distance2_)) {
+        const auto max_distance2 = max_distance_ * max_distance_;
+        if ((pt - origin).squaredNorm() > (max_distance2)) {
             it = map_.erase(it);
         } else {
             ++it;

diff --git a/cpp/kiss_icp/core/VoxelHashMap.hpp b/cpp/kiss_icp/core/VoxelHashMap.hpp
@@ -52,7 +52,7 @@ struct VoxelHashMap {
 
     explicit VoxelHashMap(double voxel_size, double max_distance, int max_points_per_voxel)
         : voxel_size_(voxel_size),
-          max_distance2_(max_distance * max_distance),
+          max_distance_(max_distance),
           max_points_per_voxel_(max_points_per_voxel) {}
 
     inline void Clear() { map_.clear(); }
@@ -70,7 +70,7 @@ struct VoxelHashMap {
     std::vector<Eigen::Vector3d> GetPoints(const std::vector<Voxel> &query_voxels) const;
 
     double voxel_size_;
-    double max_distance2_;
+    double max_distance_;
     int max_points_per_voxel_;
     tsl::robin_map<Voxel, VoxelBlock, VoxelHash> map_;
 };