We always use frame, if we want to move point_cloud, let's do it in a

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PRBonn · Jul 20, 2024 · 86abc76 · 86abc76
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commit 86abc76
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/cpp/kiss_icp/core/VoxelUtils.cpp b/cpp/kiss_icp/core/VoxelUtils.cpp
@@ -4,11 +4,11 @@
 
 namespace kiss_icp {
 
-std::vector<Eigen::Vector3d> VoxelDownsample(const std::vector<Eigen::Vector3d> &point_cloud,
+std::vector<Eigen::Vector3d> VoxelDownsample(const std::vector<Eigen::Vector3d> &frame,
                                              const double voxel_size) {
     tsl::robin_map<Voxel, Eigen::Vector3d> grid;
-    grid.reserve(point_cloud.size());
-    std::for_each(point_cloud.cbegin(), point_cloud.cend(), [&](const auto &point) {
+    grid.reserve(frame.size());
+    std::for_each(frame.cbegin(), frame.cend(), [&](const auto &point) {
         const auto voxel = PointToVoxel(point, voxel_size);
         if (!grid.contains(voxel)) grid.insert({voxel, point});
     });

diff --git a/cpp/kiss_icp/core/VoxelUtils.hpp b/cpp/kiss_icp/core/VoxelUtils.hpp
@@ -35,7 +35,7 @@ inline Voxel PointToVoxel(const Eigen::Vector3d &point, const double voxel_size)
                  static_cast<int>(std::floor(point.z() / voxel_size)));
 }
 /// Voxelize a point cloud keeping the original coordinates
-std::vector<Eigen::Vector3d> VoxelDownsample(const std::vector<Eigen::Vector3d> &point_cloud,
+std::vector<Eigen::Vector3d> VoxelDownsample(const std::vector<Eigen::Vector3d> &frame,
                                              const double voxel_size);
 
 }  // namespace kiss_icp