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Speed up NDT bucket lookup with a dense hash map #324

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Merged
JanuszBedkowski merged 3 commits into from
Jan 21, 2026
Merged

Speed up NDT bucket lookup with a dense hash map #324

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d3472ae
Add unordered_dense submodule (v4.8.1) - a fast robin hood hash set/m…
bloom256 Jan 21, 2026
3bfc8f1
perf: replace std::unordered_map with ankerl::unordered_dense::map fo…
bloom256 Jan 21, 2026
e190873
python bindings build fix
bloom256 Jan 21, 2026
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3 changes: 3 additions & 0 deletions .gitmodules
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Original file line number Diff line number Diff line change
Expand Up @@ -44,3 +44,6 @@
[submodule "3rdparty/tomlplusplus"]
path = 3rdparty/tomlplusplus
url = https://github.com/marzer/tomlplusplus.git
[submodule "3rdparty/unordered_dense"]
path = 3rdparty/unordered_dense
url = https://github.com/martinus/unordered_dense.git
1 change: 1 addition & 0 deletions 3rdparty/unordered_dense
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Submodule unordered_dense added at 3234af
6 changes: 5 additions & 1 deletion CMakeLists.txt
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Expand Up @@ -353,7 +353,7 @@ if (BUILD_WITH_BUNDLED_ONETBB)
set(TBB_STRICT OFF CACHE BOOL "" FORCE)
set(TBBMALLOC_BUILD OFF CACHE BOOL "" FORCE)
set(TBB_CPF OFF CACHE BOOL "" FORCE)

add_subdirectory(${THIRDPARTY_DIRECTORY}/oneTBB)
MESSAGE(STATUS "Using bundled oneTBB from: ${THIRDPARTY_DIRECTORY}/oneTBB")
else()
Expand All @@ -362,6 +362,10 @@ else()
MESSAGE(STATUS "Found system TBB")
endif()

# Add unordered_dense header-only library
add_subdirectory(${THIRDPARTY_DIRECTORY}/unordered_dense)
MESSAGE(STATUS "Using bundled unordered_dense from: ${THIRDPARTY_DIRECTORY}/unordered_dense")

option(PYBIND "Enable pybind11 bindings" OFF)
if(PYBIND)
message(STATUS "PYBIND is enabled: fetching pybind.")
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1 change: 1 addition & 0 deletions apps/compare_trajectories/CMakeLists.txt
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Expand Up @@ -30,6 +30,7 @@ target_include_directories(
target_link_libraries(
mandeye_compare_trajectories
PRIVATE Fusion
unordered_dense::unordered_dense
${FREEGLUT_LIBRARY}
${OPENGL_gl_LIBRARY}
OpenGL::GLU
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4 changes: 3 additions & 1 deletion apps/concatenate_multi_livox/CMakeLists.txt
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Expand Up @@ -23,7 +23,9 @@ target_include_directories(
${THIRDPARTY_DIRECTORY}/Fusion/Fusion
${FREEGLUT_INCLUDE_DIR})

target_link_libraries(concatenate_multi_livox PRIVATE core ${PLATFORM_LASZIP_LIB}
target_link_libraries(concatenate_multi_livox PRIVATE core
unordered_dense::unordered_dense
${PLATFORM_LASZIP_LIB}
${PLATFORM_MISCELLANEOUS_LIBS})

if(WIN32)
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1 change: 1 addition & 0 deletions apps/lidar_odometry_step_1/CMakeLists.txt
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Expand Up @@ -45,6 +45,7 @@ target_include_directories(
target_link_libraries(
lidar_odometry_step_1
PRIVATE Fusion
unordered_dense::unordered_dense
# PRIVATE ${THIRDPARTY_DIRECTORY}/glew-2.2.0/lib/Release/x64/glew32s.lib
${FREEGLUT_LIBRARY}
${OPENGL_gl_LIBRARY}
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6 changes: 4 additions & 2 deletions apps/lidar_odometry_step_1/lidar_odometry_utils.h
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Expand Up @@ -7,6 +7,8 @@
#include <map>
#include <vector>

#include <ankerl/unordered_dense.h>

#include <Eigen/Dense>
#include <Fusion.h>
#include <common/include/cauchy.h>
Expand All @@ -29,8 +31,8 @@

namespace fs = std::filesystem;

using NDTBucketMapType = std::unordered_map<uint64_t, NDT::Bucket>;
using NDTBucketMapType2 = std::unordered_map<uint64_t, NDT::Bucket2>;
using NDTBucketMapType = ankerl::unordered_dense::map<uint64_t, NDT::Bucket>;
using NDTBucketMapType2 = ankerl::unordered_dense::map<uint64_t, NDT::Bucket2>;

// Helper function for getting software version from CMake macros
inline std::string get_software_version()
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1 change: 1 addition & 0 deletions apps/livox_mid_360_intrinsic_calibration/CMakeLists.txt
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Expand Up @@ -31,6 +31,7 @@ target_include_directories(
target_link_libraries(
livox_mid_360_intrinsic_calibration
PRIVATE Fusion
unordered_dense::unordered_dense
${FREEGLUT_LIBRARY}
${OPENGL_gl_LIBRARY}
OpenGL::GLU
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1 change: 1 addition & 0 deletions apps/mandeye_mission_recorder_calibration/CMakeLists.txt
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Expand Up @@ -41,6 +41,7 @@ target_include_directories(
target_link_libraries(
mandeye_mission_recorder_calibration
PRIVATE Fusion
unordered_dense::unordered_dense
${FREEGLUT_LIBRARY}
${OPENGL_gl_LIBRARY}
OpenGL::GLU
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1 change: 1 addition & 0 deletions apps/mandeye_raw_data_viewer/CMakeLists.txt
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Expand Up @@ -44,6 +44,7 @@ target_include_directories(
target_link_libraries(
mandeye_raw_data_viewer
PRIVATE Fusion
unordered_dense::unordered_dense
${FREEGLUT_LIBRARY}
${OPENGL_gl_LIBRARY}
OpenGL::GLU
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1 change: 1 addition & 0 deletions apps/mandeye_single_session_viewer/CMakeLists.txt
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Expand Up @@ -40,6 +40,7 @@ target_include_directories(
target_link_libraries(
mandeye_single_session_viewer
PRIVATE Fusion
unordered_dense::unordered_dense
${FREEGLUT_LIBRARY}
${OPENGL_gl_LIBRARY}
OpenGL::GLU
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1 change: 1 addition & 0 deletions apps/multi_view_tls_registration/CMakeLists.txt
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Expand Up @@ -44,6 +44,7 @@ target_include_directories(
multi_view_tls_registration_step_2
# PRIVATE ${THIRDPARTY_DIRECTORY}/glew-2.2.0/lib/Release/x64/glew32s.lib
PRIVATE ${FREEGLUT_LIBRARY}
unordered_dense::unordered_dense
${OPENGL_gl_LIBRARY}
OpenGL::GLU
${PLATFORM_LASZIP_LIB}
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5 changes: 3 additions & 2 deletions pybind/CMakeLists.txt
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Expand Up @@ -120,9 +120,10 @@ target_link_libraries(core_py


target_link_libraries(lidar_odometry_py
PRIVATE pybind11::module
PRIVATE pybind11::module
core_no_gui
${PLATFORM_LASZIP_LIB}
unordered_dense::unordered_dense
${PLATFORM_LASZIP_LIB}
Fusion
${PLATFORM_MISCELLANEOUS_LIBS}
)
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