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Reduce memory allocation #410

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Reduce memory allocation #410

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1fdd09b
Zero additional allocations
tizianoGuadagnino Dec 4, 2024
a741512
We know this shifts
tizianoGuadagnino Dec 4, 2024
5ae3283
Revert VoxelHashMap change -> Allocations go in a separate PR
tizianoGuadagnino Dec 4, 2024
4521454
Revert "Revert VoxelHashMap change -> Allocations go in a separate PR"
tizianoGuadagnino Dec 4, 2024
6e56ac7
Revert concurrent vector change
tizianoGuadagnino Dec 4, 2024
a094695
Some renaming for clarity
tizianoGuadagnino Dec 5, 2024
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25 changes: 10 additions & 15 deletions cpp/kiss_icp/core/VoxelHashMap.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,25 +24,21 @@

#include <Eigen/Core>
#include <algorithm>
#include <array>
#include <sophus/se3.hpp>
#include <vector>

#include "VoxelUtils.hpp"

namespace {
using kiss_icp::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;
}
static const std::array<Voxel, 27> voxel_shifts{
{Voxel{0, 0, 0}, Voxel{1, 0, 0}, Voxel{-1, 0, 0}, Voxel{0, 1, 0}, Voxel{0, -1, 0},
Voxel{0, 0, 1}, Voxel{0, 0, -1}, Voxel{1, 1, 0}, Voxel{1, -1, 0}, Voxel{-1, 1, 0},
Voxel{-1, -1, 0}, Voxel{1, 0, 1}, Voxel{1, 0, -1}, Voxel{-1, 0, 1}, Voxel{-1, 0, -1},
Voxel{0, 1, 1}, Voxel{0, 1, -1}, Voxel{0, -1, 1}, Voxel{0, -1, -1}, Voxel{1, 1, 1},
Voxel{1, 1, -1}, Voxel{1, -1, 1}, Voxel{1, -1, -1}, Voxel{-1, 1, 1}, Voxel{-1, 1, -1},
Voxel{-1, -1, 1}, Voxel{-1, -1, -1}}};
} // namespace

namespace kiss_icp {
Expand All @@ -51,12 +47,11 @@ std::tuple<Eigen::Vector3d, double> VoxelHashMap::GetClosestNeighbor(
const Eigen::Vector3d &query) const {
// Convert the point to voxel coordinates
const auto &voxel = PointToVoxel(query, voxel_size_);
// Get nearby voxels on the map
const auto &query_voxels = GetAdjacentVoxels(voxel);
// Find the nearest neighbor
Eigen::Vector3d closest_neighbor = Eigen::Vector3d::Zero();
double closest_distance = std::numeric_limits<double>::max();
std::for_each(query_voxels.cbegin(), query_voxels.cend(), [&](const auto &query_voxel) {
std::for_each(voxel_shifts.cbegin(), voxel_shifts.cend(), [&](const auto &voxel_shift) {
const auto &query_voxel = voxel + voxel_shift;
auto search = map_.find(query_voxel);
if (search != map_.end()) {
const auto &points = search.value();
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