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Move NN search back to the VoxelHashMap #388

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merged 2 commits into from
Aug 8, 2024
Merged

Move NN search back to the VoxelHashMap #388

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d1e2bfe
Now we can search neighbors from the voxel hash
tizianoGuadagnino Aug 8, 2024
4594af4
Integrate Nacho's Comment
tizianoGuadagnino Aug 8, 2024
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37 changes: 1 addition & 36 deletions cpp/kiss_icp/core/Registration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,41 +55,6 @@ void TransformPoints(const Sophus::SE3d &T, std::vector<Eigen::Vector3d> &points
[&](const auto &point) { return T * point; });
}

using Voxel = 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;
}

std::tuple<Eigen::Vector3d, double> GetClosestNeighbor(const Eigen::Vector3d &point,
const kiss_icp::VoxelHashMap &voxel_map) {
// Convert the point to voxel coordinates
const auto &voxel = kiss_icp::PointToVoxel(point, voxel_map.voxel_size_);
// 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 = Eigen::Vector3d::Zero();
double closest_distance = std::numeric_limits<double>::max();
std::for_each(neighbors.cbegin(), neighbors.cend(), [&](const auto &neighbor) {
double distance = (neighbor - point).norm();
if (distance < closest_distance) {
closest_neighbor = neighbor;
closest_distance = distance;
}
});
return std::make_tuple(closest_neighbor, closest_distance);
}

Correspondences DataAssociation(const std::vector<Eigen::Vector3d> &points,
const kiss_icp::VoxelHashMap &voxel_map,
const double max_correspondance_distance) {
Expand All @@ -105,7 +70,7 @@ Correspondences DataAssociation(const std::vector<Eigen::Vector3d> &points,
[&](const tbb::blocked_range<points_iterator> &r, Correspondences res) -> Correspondences {
res.reserve(r.size());
std::for_each(r.begin(), r.end(), [&](const auto &point) {
const auto &[closest_neighbor, distance] = GetClosestNeighbor(point, voxel_map);
const auto &[closest_neighbor, distance] = voxel_map.GetClosestNeighbor(point);
if (distance < max_correspondance_distance) {
res.emplace_back(point, closest_neighbor);
}
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49 changes: 44 additions & 5 deletions cpp/kiss_icp/core/VoxelHashMap.cpp
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Expand Up @@ -29,14 +29,27 @@

#include "VoxelUtils.hpp"

namespace kiss_icp {
namespace {
using kiss_icp::Voxel;
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std::vector<Eigen::Vector3d> VoxelHashMap::GetPoints(const std::vector<Voxel> &query_voxels) const {
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;
}
std::vector<Eigen::Vector3d> GetPoints(const std::vector<Voxel> &query_voxels,
const kiss_icp::VoxelHashMap &voxel_map) {
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std::vector<Eigen::Vector3d> points;
points.reserve(query_voxels.size() * static_cast<size_t>(max_points_per_voxel_));
points.reserve(query_voxels.size() * static_cast<size_t>(voxel_map.max_points_per_voxel_));
std::for_each(query_voxels.cbegin(), query_voxels.cend(), [&](const auto &query) {
auto search = map_.find(query);
if (search != map_.end()) {
auto search = voxel_map.map_.find(query);
if (search != voxel_map.map_.end()) {
const auto &voxel_points = search.value();
points.insert(points.end(), voxel_points.cbegin(), voxel_points.cend());
}
Expand All @@ -45,6 +58,32 @@ std::vector<Eigen::Vector3d> VoxelHashMap::GetPoints(const std::vector<Voxel> &q
return points;
}

} // namespace

namespace kiss_icp {

std::tuple<Eigen::Vector3d, double> VoxelHashMap::GetClosestNeighbor(
const Eigen::Vector3d &point) const {
// Convert the point to voxel coordinates
const auto &voxel = PointToVoxel(point, voxel_size_);
// Get nearby voxels on the map
const auto &query_voxels = GetAdjacentVoxels(voxel);
// Extract the points contained within the neighborhood voxels
const auto &neighbors = GetPoints(query_voxels, *this);

// Find the nearest neighbor
Eigen::Vector3d closest_neighbor = Eigen::Vector3d::Zero();
double closest_distance = std::numeric_limits<double>::max();
std::for_each(neighbors.cbegin(), neighbors.cend(), [&](const auto &neighbor) {
double distance = (neighbor - point).norm();
if (distance < closest_distance) {
closest_neighbor = neighbor;
closest_distance = distance;
}
});
return std::make_tuple(closest_neighbor, closest_distance);
}

std::vector<Eigen::Vector3d> VoxelHashMap::Pointcloud() const {
std::vector<Eigen::Vector3d> points;
points.reserve(map_.size() * static_cast<size_t>(max_points_per_voxel_));
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2 changes: 1 addition & 1 deletion cpp/kiss_icp/core/VoxelHashMap.hpp
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Expand Up @@ -48,7 +48,7 @@ struct VoxelHashMap {
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::tuple<Eigen::Vector3d, double> GetClosestNeighbor(const Eigen::Vector3d &point) const;

double voxel_size_;
double max_distance_;
Expand Down
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