Remove kitti scan correction from core library

Put it in python bindings, that is the only place where is actually used
PRBonn · Jul 20, 2024 · 8951c5d · 8951c5d
1 parent a9f527d
commit 8951c5d
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Showing 3 changed files with 17 additions and 19 deletions.
diff --git a/cpp/kiss_icp/core/Preprocessing.cpp b/cpp/kiss_icp/core/Preprocessing.cpp
@@ -22,13 +22,11 @@
 // SOFTWARE.
 #include "Preprocessing.hpp"
 
-#include <tbb/parallel_for.h>
 #include <tsl/robin_map.h>
 
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 #include <algorithm>
-#include <cmath>
 #include <vector>
 
 #include "VoxelUtils.hpp"
@@ -63,15 +61,4 @@ std::vector<Eigen::Vector3d> Preprocess(const std::vector<Eigen::Vector3d> &fram
     return inliers;
 }
 
-std::vector<Eigen::Vector3d> CorrectKITTIScan(const std::vector<Eigen::Vector3d> &frame) {
-    constexpr double VERTICAL_ANGLE_OFFSET = (0.205 * M_PI) / 180.0;
-    std::vector<Eigen::Vector3d> corrected_frame(frame.size());
-    tbb::parallel_for(size_t(0), frame.size(), [&](size_t i) {
-        const auto &pt = frame[i];
-        const Eigen::Vector3d rotationVector = pt.cross(Eigen::Vector3d(0., 0., 1.));
-        corrected_frame[i] =
-            Eigen::AngleAxisd(VERTICAL_ANGLE_OFFSET, rotationVector.normalized()) * pt;
-    });
-    return corrected_frame;
-}
 }  // namespace kiss_icp
diff --git a/cpp/kiss_icp/core/Preprocessing.hpp b/cpp/kiss_icp/core/Preprocessing.hpp
@@ -32,11 +32,6 @@ std::vector<Eigen::Vector3d> Preprocess(const std::vector<Eigen::Vector3d> &fram
                                         double max_range,
                                         double min_range);
 
-/// This function only applies for the KITTI dataset, and should NOT be used by any other dataset,
-/// the original idea and part of the implementation is taking from CT-ICP(Although IMLS-SLAM
-/// Originally introduced the calibration factor)
-std::vector<Eigen::Vector3d> CorrectKITTIScan(const std::vector<Eigen::Vector3d> &frame);
-
 /// Voxelize point cloud keeping the original coordinates
 std::vector<Eigen::Vector3d> VoxelDownsample(const std::vector<Eigen::Vector3d> &frame,
                                              double voxel_size);

diff --git a/python/kiss_icp/pybind/kiss_icp_pybind.cpp b/python/kiss_icp/pybind/kiss_icp_pybind.cpp
@@ -27,6 +27,8 @@
 #include <pybind11/stl_bind.h>
 
 #include <Eigen/Core>
+#include <algorithm>
+#include <cmath>
 #include <memory>
 #include <vector>
 
@@ -118,7 +120,21 @@ PYBIND11_MODULE(kiss_icp_pybind, m) {
     // prerpocessing modules
     m.def("_voxel_down_sample", &VoxelDownsample, "frame"_a, "voxel_size"_a);
     m.def("_preprocess", &Preprocess, "frame"_a, "max_range"_a, "min_range"_a);
-    m.def("_correct_kitti_scan", &CorrectKITTIScan, "frame"_a);
+    /// This function only applies for the KITTI dataset, and should NOT be used by any other
+    /// dataset, the original idea and part of the implementation is taking from CT-ICP(Although
+    /// IMLS-SLAM Originally introduced the calibration factor)
+    m.def(
+        "_correct_kitti_scan",
+        [](const std::vector<Eigen::Vector3d> &frame) {
+            constexpr double VERTICAL_ANGLE_OFFSET = (0.205 * M_PI) / 180.0;
+            std::vector<Eigen::Vector3d> frame_ = frame;
+            std::transform(frame_.cbegin(), frame_.cend(), frame_.begin(), [&](const auto pt) {
+                const Eigen::Vector3d rotationVector = pt.cross(Eigen::Vector3d(0., 0., 1.));
+                return Eigen::AngleAxisd(VERTICAL_ANGLE_OFFSET, rotationVector.normalized()) * pt;
+            });
+            return frame_;
+        },
+        "frame"_a);
 
     // Metrics
     m.def("_kitti_seq_error", &metrics::SeqError, "gt_poses"_a, "results_poses"_a);