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Remove GetPoints #389

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Aug 8, 2024
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40 changes: 15 additions & 25 deletions cpp/kiss_icp/core/VoxelHashMap.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -43,42 +43,32 @@ std::vector<Voxel> GetAdjacentVoxels(const Voxel &voxel, int adjacent_voxels = 1
}
return voxel_neighborhood;
}
std::vector<Eigen::Vector3d> GetPoints(const std::vector<Voxel> &query_voxels,
const kiss_icp::VoxelHashMap &voxel_map) {
std::vector<Eigen::Vector3d> points;
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 = 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());
}
});
points.shrink_to_fit();
return points;
}

} // namespace

namespace kiss_icp {

std::tuple<Eigen::Vector3d, double> VoxelHashMap::GetClosestNeighbor(
const Eigen::Vector3d &point) const {
const Eigen::Vector3d &query) const {
// Convert the point to voxel coordinates
const auto &voxel = PointToVoxel(point, voxel_size_);
const auto &voxel = PointToVoxel(query, voxel_size_);
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// 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;
auto closer = [&query](const auto &lhs, const auto &rhs) {
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return (lhs - query).norm() < (rhs - query).norm();
};
std::for_each(query_voxels.cbegin(), query_voxels.cend(), [&](const auto &qv) {
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auto search = map_.find(qv);
if (search != map_.end()) {
const auto &points = search.value();
const auto &neighbor = *std::min_element(points.cbegin(), points.cend(), closer);
double distance = (neighbor - query).norm();
if (distance < closest_distance) {
closest_neighbor = neighbor;
closest_distance = distance;
}
}
});
return std::make_tuple(closest_neighbor, closest_distance);
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2 changes: 1 addition & 1 deletion cpp/kiss_icp/core/VoxelHashMap.hpp
Original file line number Diff line number Diff line change
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::tuple<Eigen::Vector3d, double> GetClosestNeighbor(const Eigen::Vector3d &point) const;
std::tuple<Eigen::Vector3d, double> GetClosestNeighbor(const Eigen::Vector3d &query) const;

double voxel_size_;
double max_distance_;
Expand Down
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