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Improvement for VoxelDownsample #347

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Improvement for VoxelDownsample #347

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47e8e64
Improvement for downsample one cycle is enough
l00p3 Jun 12, 2024
527f9d4
Remove template case
l00p3 Jun 13, 2024
23bb337
Robin Set instead of std set
l00p3 Jun 13, 2024
3239530
Remove test scripts sorry
l00p3 Jun 13, 2024
7498fe7
Revert "Remove test scripts sorry"
l00p3 Jun 13, 2024
9bf1fc1
Revert "Robin Set instead of std set"
l00p3 Jun 13, 2024
5fc8473
Robin Set instead of std set
l00p3 Jun 13, 2024
06529e5
Single downsample
l00p3 Jun 27, 2024
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32 changes: 17 additions & 15 deletions cpp/kiss_icp/core/Preprocessing.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,11 +23,10 @@
#include "Preprocessing.hpp"

#include <tbb/parallel_for.h>
#include <tsl/robin_map.h>
#include <tsl/robin_set.h>

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

Expand All @@ -43,20 +42,23 @@ struct VoxelHash {

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 = Voxel((point / voxel_size).cast<int>());
if (grid.contains(voxel)) continue;
grid.insert({voxel, point});
}
const double voxel_size) {
tsl::robin_set<Voxel, VoxelHash> voxels;
std::vector<Eigen::Vector3d> frame_dowsampled;
frame_dowsampled.reserve(grid.size());
for (const auto &[voxel, point] : grid) {
(void)voxel;
frame_dowsampled.emplace_back(point);
}

voxels.reserve(frame.size());
frame_dowsampled.reserve(frame.size());

std::for_each(frame.cbegin(), frame.cend(), [&](const Eigen::Vector3d &point) {
const auto voxel = Voxel((point / voxel_size).cast<int>());
if (!voxels.contains(voxel)) {
voxels.insert(voxel);
frame_dowsampled.emplace_back(point);
}
});

frame_dowsampled.shrink_to_fit();

return frame_dowsampled;
}

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2 changes: 1 addition & 1 deletion cpp/kiss_icp/core/Preprocessing.hpp
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Expand Up @@ -41,5 +41,5 @@ std::vector<Eigen::Vector3d> CorrectKITTIScan(const std::vector<Eigen::Vector3d>

/// Voxelize point cloud keeping the original coordinates
std::vector<Eigen::Vector3d> VoxelDownsample(const std::vector<Eigen::Vector3d> &frame,
double voxel_size);
const double voxel_size);
} // namespace kiss_icp
9 changes: 2 additions & 7 deletions python/kiss_icp/kiss_icp.py
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Expand Up @@ -50,7 +50,7 @@ def register_frame(self, frame, timestamps):
frame = self.preprocess(frame)

# Voxelize
source, frame_downsample = self.voxelize(frame)
source = voxel_down_sample(frame, self.config.mapping.voxel_size * 1.5)

# Get adaptive_threshold
sigma = self.adaptive_threshold.get_threshold()
Expand All @@ -72,14 +72,9 @@ def register_frame(self, frame, timestamps):

# Update step: threshold, local map, delta, and the last pose
self.adaptive_threshold.update_model_deviation(model_deviation)
self.local_map.update(frame_downsample, new_pose)
self.local_map.update(source, new_pose)
self.last_delta = np.linalg.inv(self.last_pose) @ new_pose
self.last_pose = new_pose

# Return the (deskew) input raw scan (frame) and the points used for registration (source)
return frame, source

def voxelize(self, iframe):
frame_downsample = voxel_down_sample(iframe, self.config.mapping.voxel_size * 0.5)
source = voxel_down_sample(frame_downsample, self.config.mapping.voxel_size * 1.5)
return source, frame_downsample
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