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Simplify GetClosestPoint #391

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Simplify GetClosestPoint #391

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1a883da
Simplify get closest neighbor
tizianoGuadagnino Aug 9, 2024
574781f
Actually now that I see
tizianoGuadagnino Aug 9, 2024
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39 changes: 19 additions & 20 deletions cpp/kiss_icp/core/VoxelHashMap.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,14 +30,18 @@
#include "VoxelUtils.hpp"

namespace {
using kiss_icp::Voxel;

std::vector<Voxel> GetAdjacentVoxels(const Voxel &voxel, int adjacent_voxels = 1) {
std::vector<Voxel> voxel_neighborhood;
std::vector<kiss_icp::Voxel> GetAdjacentVoxels(const Eigen::Vector3d &point,
const kiss_icp::VoxelHashMap &grid,
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Why pass this as an argument? How should I read this line?

    const auto &query_voxels = GetAdjacentVoxels(query, *this);

const int adjacent_voxels = 1) {
// Convert the point to voxel coordinates
const auto &voxel = kiss_icp::PointToVoxel(point, grid.voxel_size_);
std::vector<kiss_icp::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);
if (grid.map_.contains({i, j, k})) {
voxel_neighborhood.emplace_back(i, j, k);
}
}
}
}
Expand All @@ -49,26 +53,21 @@ namespace kiss_icp {

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);
const auto &query_voxels = GetAdjacentVoxels(query, *this);
// 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) {
auto search = map_.find(query_voxel);
if (search != map_.end()) {
const auto &points = search.value();
const Eigen::Vector3d &neighbor = *std::min_element(
points.cbegin(), points.cend(), [&](const auto &lhs, const auto &rhs) {
return (lhs - query).norm() < (rhs - query).norm();
});
double distance = (neighbor - query).norm();
if (distance < closest_distance) {
closest_neighbor = neighbor;
closest_distance = distance;
}
const auto &points = map_.at(query_voxel);
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This is relatively unsafe. I know that up here, you only provide the voxels that already exist in the grid, but within this method, nothing prevents us from making a mistake; in that case, we will get an exception

TSL_RH_THROW_OR_TERMINATE(std::out_of_range, "Couldn't find key.");

const Eigen::Vector3d &neighbor = *std::min_element(
points.cbegin(), points.cend(), [&](const auto &lhs, const auto &rhs) {
return (lhs - query).norm() < (rhs - query).norm();
});
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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