From d8ae52679da9dcfc3c08403d4d66560e07f9f0b4 Mon Sep 17 00:00:00 2001
From: Ignacio Vizzo <ignacio@dexory.com>
Date: Fri, 12 Jul 2024 16:47:10 +0200
Subject: [PATCH] Remove tbb usage to keep it simple to control number of
 threads

Also kill header to avoid polluting this with more files, hiding this
implementation we don't even care seems fine to me :)
---
 python/kiss_icp/pybind/kiss_icp_pybind.cpp | 20 ++++++++-
 python/kiss_icp/pybind/kitti.hpp           | 47 ----------------------
 2 files changed, 18 insertions(+), 49 deletions(-)
 delete mode 100644 python/kiss_icp/pybind/kitti.hpp

diff --git a/python/kiss_icp/pybind/kiss_icp_pybind.cpp b/python/kiss_icp/pybind/kiss_icp_pybind.cpp
index abeca733..bb86c403 100644
--- 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>
 
@@ -36,7 +38,6 @@
 #include "kiss_icp/core/Threshold.hpp"
 #include "kiss_icp/core/VoxelHashMap.hpp"
 #include "kiss_icp/metrics/Metrics.hpp"
-#include "kitti.hpp"
 #include "stl_vector_eigen.h"
 
 namespace py = pybind11;
@@ -119,7 +120,22 @@ 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);
diff --git a/python/kiss_icp/pybind/kitti.hpp b/python/kiss_icp/pybind/kitti.hpp
deleted file mode 100644
index 891794b7..00000000
--- a/python/kiss_icp/pybind/kitti.hpp
+++ /dev/null
@@ -1,47 +0,0 @@
-// MIT License
-//
-// Copyright (c) 2022 Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch, Cyrill
-// Stachniss.
-//
-// Permission is hereby granted, free of charge, to any person obtaining a copy
-// of this software and associated documentation files (the "Software"), to deal
-// in the Software without restriction, including without limitation the rights
-// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-// copies of the Software, and to permit persons to whom the Software is
-// furnished to do so, subject to the following conditions:
-//
-// The above copyright notice and this permission notice shall be included in all
-// copies or substantial portions of the Software.
-//
-// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-// SOFTWARE.
-
-#include <tbb/parallel_for.h>
-
-#include <Eigen/Core>
-#include <algorithm>
-#include <vector>
-
-namespace kiss_icp {
-
-/// 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);
-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