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Revise Voxel functionalities in VoxelHashMap and Preprocessing #362

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merged 13 commits into from
Jul 20, 2024
Merged

Revise Voxel functionalities in VoxelHashMap and Preprocessing #362

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609ebb5
Unify Voxel functionalities, now everything comes from VoxelHashMap
tizianoGuadagnino Jul 9, 2024
8875319
This looks like an even better unification
tizianoGuadagnino Jul 9, 2024
409e2e8
Modernize VoxelDownsample
tizianoGuadagnino Jul 10, 2024
fa5c9b8
VoxelUtils is born, now everthing is liteally in one place, and we have
tizianoGuadagnino Jul 10, 2024
0cbc1d9
Macos does not like my include
tizianoGuadagnino Jul 10, 2024
3e7abb6
Local style include
tizianoGuadagnino Jul 11, 2024
07f97b1
With move
tizianoGuadagnino Jul 11, 2024
9f87b9b
As of benchmark
tizianoGuadagnino Jul 11, 2024
2fc877f
For each for the win
tizianoGuadagnino Jul 11, 2024
aeb7b21
Remove unnecessary include
tizianoGuadagnino Jul 11, 2024
37d520c
Const correcteness
l00p3 Jul 11, 2024
cf8050d
Merge remote-tracking branch 'origin/main' into tiziano/merge_voxel_u…
nachovizzo Jul 11, 2024
9b2b2cd
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nachovizzo Jul 11, 2024
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8 changes: 5 additions & 3 deletions cpp/kiss_icp/core/Preprocessing.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,9 +43,11 @@ std::vector<Eigen::Vector3d> VoxelDownsample(const std::vector<Eigen::Vector3d>
const auto voxel = PointToVoxel(point, voxel_size);
if (!grid.contains(voxel)) grid.insert({voxel, point});
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});
std::vector<Eigen::Vector3d> frame_dowsampled(grid.size());
std::transform(grid.cbegin(), grid.cend(), frame_dowsampled.begin(),
[](const auto &voxel_and_point) { return voxel_and_point.second; });
std::vector<Eigen::Vector3d> frame_dowsampled;
frame_dowsampled.reserve(grid.size());
std::for_each(grid.cbegin(), grid.cend(), [&](const auto &voxel_and_point) {
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frame_dowsampled.emplace_back(voxel_and_point.second);
});
return frame_dowsampled;
}

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