Style changes in voxelization and preprocessing utilities (#364)

* Unify Voxel functionalities, now everything comes from VoxelHashMap * This looks like an even better unification * Modernize VoxelDownsample * VoxelUtils is born, now everthing is liteally in one place, and we have some side effect code reduction * Macos does not like my include * Local style include * With move * As of benchmark * For each for the win * Remove unnecessary include * Const correcteness * Refresh changes * Add style changes for a separate PR * Add missing headers * Remove more raw for loops * Move Voxeldownsample into VoxelUtils * Cmake needs to know * Miss cpp * Remove duplicate * cmake-format * Format * We never used noexcept anywhere, why adding it now? * We always use frame, if we want to move point_cloud, let's do it in a seprate PR * put back whitespaces * reduce diff --------- Co-authored-by: tizianoGuadagnino <[email protected]> Co-authored-by: Luca Lobefaro <[email protected]> Co-authored-by: Benedikt Mersch <[email protected]>
PRBonn · Jul 22, 2024 · 1c28d17 · 1c28d17
1 parent a9f527d
commit 1c28d17
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Showing 7 changed files with 40 additions and 35 deletions.
diff --git a/cpp/kiss_icp/core/CMakeLists.txt b/cpp/kiss_icp/core/CMakeLists.txt
@@ -21,6 +21,7 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 add_library(kiss_icp_core STATIC)
-target_sources(kiss_icp_core PRIVATE Registration.cpp Deskew.cpp VoxelHashMap.cpp Preprocessing.cpp Threshold.cpp)
+target_sources(kiss_icp_core PRIVATE Registration.cpp Deskew.cpp VoxelHashMap.cpp VoxelUtils.cpp Preprocessing.cpp
+                                     Threshold.cpp)
 target_link_libraries(kiss_icp_core PUBLIC Eigen3::Eigen tsl::robin_map TBB::tbb Sophus::Sophus)
 set_global_target_properties(kiss_icp_core)
diff --git a/cpp/kiss_icp/core/Preprocessing.cpp b/cpp/kiss_icp/core/Preprocessing.cpp
@@ -34,24 +34,6 @@
 #include "VoxelUtils.hpp"
 
 namespace kiss_icp {
-std::vector<Eigen::Vector3d> VoxelDownsample(const std::vector<Eigen::Vector3d> &frame,
-                                             double voxel_size) {
-    tsl::robin_map<Voxel, Eigen::Vector3d, VoxelHash> grid;
-    grid.reserve(frame.size());
-    for (const auto &point : frame) {
-        const auto voxel = PointToVoxel(point, voxel_size);
-        if (grid.contains(voxel)) continue;
-        grid.insert({voxel, point});
-    }
-    std::vector<Eigen::Vector3d> frame_dowsampled;
-    frame_dowsampled.reserve(grid.size());
-    for (const auto &[voxel, point] : grid) {
-        (void)voxel;
-        frame_dowsampled.emplace_back(point);
-    }
-    return frame_dowsampled;
-}
-
 std::vector<Eigen::Vector3d> Preprocess(const std::vector<Eigen::Vector3d> &frame,
                                         double max_range,
                                         double min_range) {

diff --git a/cpp/kiss_icp/core/Preprocessing.hpp b/cpp/kiss_icp/core/Preprocessing.hpp
@@ -37,7 +37,4 @@ std::vector<Eigen::Vector3d> Preprocess(const std::vector<Eigen::Vector3d> &fram
 /// 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);
 }  // namespace kiss_icp
diff --git a/cpp/kiss_icp/core/VoxelHashMap.cpp b/cpp/kiss_icp/core/VoxelHashMap.cpp
@@ -37,9 +37,8 @@ std::vector<Eigen::Vector3d> VoxelHashMap::GetPoints(const std::vector<Voxel> &q
     std::for_each(query_voxels.cbegin(), query_voxels.cend(), [&](const auto &query) {
         auto search = map_.find(query);
         if (search != map_.end()) {
-            for (const auto &point : search->second.points) {
-                points.emplace_back(point);
-            }
+            const auto &voxel_points = search->second.points;
+            points.insert(points.end(), voxel_points.cbegin(), voxel_points.cend());
         }
     });
     points.shrink_to_fit();
@@ -50,11 +49,8 @@ std::vector<Eigen::Vector3d> VoxelHashMap::Pointcloud() const {
     std::vector<Eigen::Vector3d> points;
     points.reserve(map_.size() * static_cast<size_t>(max_points_per_voxel_));
     std::for_each(map_.cbegin(), map_.cend(), [&](const auto &map_element) {
-        const auto &[voxel, voxel_block] = map_element;
-        (void)voxel;
-        for (const auto &point : voxel_block.points) {
-            points.emplace_back(point);
-        }
+        const auto &voxel_points = map_element.second.points;
+        points.insert(points.end(), voxel_points.cbegin(), voxel_points.cend());
     });
     points.shrink_to_fit();
     return points;

diff --git a/cpp/kiss_icp/core/VoxelHashMap.hpp b/cpp/kiss_icp/core/VoxelHashMap.hpp
@@ -62,6 +62,6 @@ struct VoxelHashMap {
     double voxel_size_;
     double max_distance_;
     int max_points_per_voxel_;
-    tsl::robin_map<Voxel, VoxelBlock, VoxelHash> map_;
+    tsl::robin_map<Voxel, VoxelBlock> map_;
 };
 }  // namespace kiss_icp
diff --git a/cpp/kiss_icp/core/VoxelUtils.cpp b/cpp/kiss_icp/core/VoxelUtils.cpp
@@ -0,0 +1,23 @@
+#include "VoxelUtils.hpp"
+
+#include <tsl/robin_map.h>
+
+namespace kiss_icp {
+
+std::vector<Eigen::Vector3d> VoxelDownsample(const std::vector<Eigen::Vector3d> &frame,
+                                             const double voxel_size) {
+    tsl::robin_map<Voxel, Eigen::Vector3d> grid;
+    grid.reserve(frame.size());
+    std::for_each(frame.cbegin(), frame.cend(), [&](const auto &point) {
+        const auto voxel = PointToVoxel(point, voxel_size);
+        if (!grid.contains(voxel)) grid.insert({voxel, point});
+    });
+    std::vector<Eigen::Vector3d> frame_dowsampled;
+    frame_dowsampled.reserve(grid.size());
+    std::for_each(grid.cbegin(), grid.cend(), [&](const auto &voxel_and_point) {
+        frame_dowsampled.emplace_back(voxel_and_point.second);
+    });
+    return frame_dowsampled;
+}
+
+}  // namespace kiss_icp
diff --git a/cpp/kiss_icp/core/VoxelUtils.hpp b/cpp/kiss_icp/core/VoxelUtils.hpp
@@ -25,21 +25,27 @@
 
 #include <Eigen/Core>
 #include <cmath>
+#include <vector>
 
 namespace kiss_icp {
 
 using Voxel = Eigen::Vector3i;
-
 inline Voxel PointToVoxel(const Eigen::Vector3d &point, const double voxel_size) {
     return Voxel(static_cast<int>(std::floor(point.x() / voxel_size)),
                  static_cast<int>(std::floor(point.y() / voxel_size)),
                  static_cast<int>(std::floor(point.z() / voxel_size)));
 }
 
-struct VoxelHash {
-    size_t operator()(const Voxel &voxel) const {
+/// Voxelize a point cloud keeping the original coordinates
+std::vector<Eigen::Vector3d> VoxelDownsample(const std::vector<Eigen::Vector3d> &frame,
+                                             const double voxel_size);
+
+}  // namespace kiss_icp
+
+template <>
+struct std::hash<kiss_icp::Voxel> {
+    std::size_t operator()(const kiss_icp::Voxel &voxel) const {
         const uint32_t *vec = reinterpret_cast<const uint32_t *>(voxel.data());
         return (vec[0] * 73856093 ^ vec[1] * 19349669 ^ vec[2] * 83492791);
     }
 };
-}  // namespace kiss_icp