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Nacho/get rid of get adjacent voxels #291

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merged 4 commits into from
Mar 18, 2024
Merged

Nacho/get rid of get adjacent voxels #291

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6db6262
Remove function from voxelhashmap
nachovizzo Mar 5, 2024
10e5f3e
Add getter and comments
nachovizzo Mar 5, 2024
19624f6
no typo no nacho
nachovizzo Mar 5, 2024
ff3d7db
I like this version better
nachovizzo Mar 5, 2024
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21 changes: 20 additions & 1 deletion cpp/kiss_icp/core/Registration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -50,10 +50,29 @@ void TransformPoints(const Sophus::SE3d &T, std::vector<Eigen::Vector3d> &points
[&](const auto &point) { return T * point; });
}

using Voxel = kiss_icp::VoxelHashMap::Voxel;
std::vector<Voxel> GetAdjacentVoxels(const Voxel &voxel, int adjacent_voxels = 1) {
std::vector<Voxel> voxel_neighborhood;
for (int i = voxel.x() - adjacent_voxels; i < voxel.x() + adjacent_voxels + 1; ++i) {
for (int j = voxel.y() - adjacent_voxels; j < voxel.y() + adjacent_voxels + 1; ++j) {
for (int k = voxel.z() - adjacent_voxels; k < voxel.z() + adjacent_voxels + 1; ++k) {
voxel_neighborhood.emplace_back(i, j, k);
}
}
}
return voxel_neighborhood;
}

Eigen::Vector3d GetClosestNeighbor(const Eigen::Vector3d &point,
const kiss_icp::VoxelHashMap &voxel_map) {
const auto &query_voxels = voxel_map.GetAdjacentVoxels(point);
// Convert the point to voxel coordinates
const auto &voxel = voxel_map.PointToVoxel(point);
// Get nearby voxels on the map
const auto &query_voxels = GetAdjacentVoxels(voxel);
// Extract the points contained within the neighborhood voxels
const auto &neighbors = voxel_map.GetPoints(query_voxels);

// Find the nearest neighbor
Eigen::Vector3d closest_neighbor;
double closest_distance2 = std::numeric_limits<double>::max();
std::for_each(neighbors.cbegin(), neighbors.cend(), [&](const auto &neighbor) {
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16 changes: 0 additions & 16 deletions cpp/kiss_icp/core/VoxelHashMap.cpp
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Expand Up @@ -31,22 +31,6 @@

namespace kiss_icp {

std::vector<VoxelHashMap::Voxel> VoxelHashMap::GetAdjacentVoxels(const Eigen::Vector3d &point,
int adjacent_voxels) const {
auto kx = static_cast<int>(point[0] / voxel_size_);
auto ky = static_cast<int>(point[1] / voxel_size_);
auto kz = static_cast<int>(point[2] / voxel_size_);
std::vector<Voxel> voxel_neighborhood;
for (int i = kx - adjacent_voxels; i < kx + adjacent_voxels + 1; ++i) {
for (int j = ky - adjacent_voxels; j < ky + adjacent_voxels + 1; ++j) {
for (int k = kz - adjacent_voxels; k < kz + adjacent_voxels + 1; ++k) {
voxel_neighborhood.emplace_back(i, j, k);
}
}
}
return voxel_neighborhood;
}

std::vector<Eigen::Vector3d> VoxelHashMap::GetPoints(const std::vector<Voxel> &query_voxels) const {
std::vector<Eigen::Vector3d> points;
points.reserve(query_voxels.size() * static_cast<size_t>(max_points_per_voxel_));
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7 changes: 5 additions & 2 deletions cpp/kiss_icp/core/VoxelHashMap.hpp
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Expand Up @@ -57,14 +57,17 @@ struct VoxelHashMap {

inline void Clear() { map_.clear(); }
inline bool Empty() const { return map_.empty(); }
inline Voxel PointToVoxel(const Eigen::Vector3d &point) const {
return Voxel(static_cast<int>(point.x() / voxel_size_),
static_cast<int>(point.y() / voxel_size_),
static_cast<int>(point.z() / voxel_size_));
}
void Update(const std::vector<Eigen::Vector3d> &points, const Eigen::Vector3d &origin);
void Update(const std::vector<Eigen::Vector3d> &points, const Sophus::SE3d &pose);
void AddPoints(const std::vector<Eigen::Vector3d> &points);
void RemovePointsFarFromLocation(const Eigen::Vector3d &origin);
std::vector<Eigen::Vector3d> Pointcloud() const;
std::vector<Eigen::Vector3d> GetPoints(const std::vector<Voxel> &query_voxels) const;
std::vector<Voxel> GetAdjacentVoxels(const Eigen::Vector3d &point,
int adjacent_voxels = 1) const;

double voxel_size_;
double max_distance_;
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