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Merged
JanuszBedkowski merged 1 commit into from
Mar 29, 2026
Merged

Small simplifications #408

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17 changes: 2 additions & 15 deletions .../lidar_odometry_step_1/drag_folder_with_mandeye_data_and_drop_here-precision_forestry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
#include "lidar_odometry_utils.h"

#include <Core/export_laz.h>
#include <Core/hash_utils.h>
#include <Core/pfd_wrapper.hpp>
#include <Core/registration_plane_feature.h>
#include <Core/session.h>
Expand Down Expand Up @@ -272,20 +273,6 @@ std::string formatCompletionTime(double remainingSeconds)
return std::string(timeStr);
}

int get_index_3d(const set<int>& s, int k)
{
int index = 0;
for (auto u : s)
{
if (u == k)
{
return index;
}
index++;
}
return -1;
}

void find_best_stretch(
std::vector<Point3Di> points, std::vector<double> timestamps, std::vector<Eigen::Affine3d> poses, std::string fn1, std::string fn2)
{
Expand Down Expand Up @@ -317,7 +304,7 @@ void find_best_stretch(
std::vector<Point3Di> points_reindexed = points;
for (size_t i = 0; i < points_reindexed.size(); i++)
{
points_reindexed[i].index_pose = get_index_3d(indexes, points[i].index_pose);
points_reindexed[i].index_pose = get_index_in_set(indexes, points[i].index_pose);
}
///
std::vector<Eigen::Affine3d> best_trajectory = trajectory;
Expand Down
17 changes: 2 additions & 15 deletions apps/lidar_odometry_step_1/lidar_odometry_gui.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
#include "lidar_odometry_utils.h"

#include <Core/export_laz.h>
#include <Core/hash_utils.h>
#include <Core/pfd_wrapper.hpp>
#include <Core/registration_plane_feature.h>
#include <Core/session.h>
Expand Down Expand Up @@ -303,20 +304,6 @@ std::vector<std::vector<Point3Di>> get_batches_of_points(std::string laz_file, i
}
#endif

int get_index_3d(const set<int>& s, int k)
{
int index = 0;
for (auto u : s)
{
if (u == k)
{
return index;
}
index++;
}
return -1;
}

void find_best_stretch(
std::vector<Point3Di> points, std::vector<double> timestamps, std::vector<Eigen::Affine3d> poses, std::string fn1, std::string fn2)
{
Expand Down Expand Up @@ -348,7 +335,7 @@ void find_best_stretch(
std::vector<Point3Di> points_reindexed = points;
for (size_t i = 0; i < points_reindexed.size(); i++)
{
points_reindexed[i].index_pose = get_index_3d(indexes, points[i].index_pose);
points_reindexed[i].index_pose = get_index_in_set(indexes, points[i].index_pose);
}
///
std::vector<Eigen::Affine3d> best_trajectory = trajectory;
Expand Down
4 changes: 4 additions & 0 deletions core/include/Core/hash_utils.h
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Original file line number Diff line number Diff line change
Expand Up @@ -2,8 +2,12 @@

#include <Eigen/Eigen>

#include <set>

uint64_t get_index_2d(const int16_t x, const int16_t y);
uint64_t get_rgd_index_2d(const Eigen::Vector3d& p, const Eigen::Vector2d& b);

uint64_t get_index_3d(const int16_t x, const int16_t y, const int16_t z);
uint64_t get_rgd_index_3d(const Eigen::Vector3d& p, const Eigen::Vector3d& b);

int32_t get_index_in_set(const std::set<int32_t>& set, const int32_t query);
20 changes: 11 additions & 9 deletions core/include/Core/icp.h
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Original file line number Diff line number Diff line change
Expand Up @@ -29,21 +29,22 @@ class ICP
uint64_t index_begin_inclusive;
uint64_t index_end_exclusive;
};

std::vector<Job> get_jobs(uint64_t size, int num_threads = 8);

ICP()
: search_radius(0.1)
, number_of_threads(std::thread::hardware_concurrency())
, number_of_iterations(6)
, is_adaptive_robust_kernel(false)
, is_ballanced_horizontal_vs_vertical(true)
, barron_c(1.0)
{
search_radius = 0.1;
number_of_threads = std::thread::hardware_concurrency();
number_of_iterations = 6;
is_adaptive_robust_kernel = false;
is_ballanced_horizontal_vs_vertical = true;
barron_c = 1.0;
};
}

~ICP()
{
;
};
}

bool optimize_source_to_target_wc(PointClouds& point_clouds_container, bool fix_first_node);
bool compute_uncertainty(PointClouds& point_clouds_container);
Expand Down Expand Up @@ -76,6 +77,7 @@ class ICP
compute_covariance_matrices_point_to_point_source_to_target_source_to_target_lie_algebra_right_jacobian(
PointClouds& point_clouds_container);

// TODO(mwlasiuk) : private
float search_radius;
int number_of_threads;
int number_of_iterations;
Expand Down
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