Optimize by removing extra loop and using emplace#494
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Pull request overview
This PR refactors voxel map update and insertion paths to reduce intermediate allocations and simplify some return statements, aiming to improve runtime efficiency in the C++ KISS-ICP core mapping/registration pipeline.
Changes:
- Refactor
VoxelHashMap::Update(points, pose)to transform and insert points directly into the voxel map. - Switch map population from
inserttoemplacein voxel downsampling and point addition. - Simplify return statements in
GetClosestNeighborandBuildLinearSystem.
Reviewed changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated 3 comments.
| File | Description |
|---|---|
cpp/kiss_icp/core/VoxelUtils.cpp |
Uses emplace when populating the voxel grid during downsampling. |
cpp/kiss_icp/core/VoxelHashMap.cpp |
In-place transform+insert logic for pose-based updates; minor return simplification; uses emplace for new voxels. |
cpp/kiss_icp/core/Registration.cpp |
Stores parallel_reduce result and returns it directly instead of structured binding. |
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| const double map_resolution = std::sqrt(voxel_size_ * voxel_size_ / max_points_per_voxel_); | ||
| std::for_each(points.cbegin(), points.cend(), [&](const auto &point) { | ||
| const Eigen::Vector3d transformed_point = pose * point; | ||
| const auto voxel = PointToVoxel(transformed_point, voxel_size_); | ||
| auto search = map_.find(voxel); | ||
| if (search != map_.end()) { | ||
| auto &voxel_points = search.value(); | ||
| if (voxel_points.size() == max_points_per_voxel_ || | ||
| std::any_of(voxel_points.cbegin(), voxel_points.cend(), | ||
| [&](const auto &voxel_point) { | ||
| return (voxel_point - transformed_point).norm() < map_resolution; | ||
| })) { | ||
| return; | ||
| } | ||
| voxel_points.emplace_back(transformed_point); | ||
| } else { | ||
| std::vector<Eigen::Vector3d> voxel_points; | ||
| voxel_points.reserve(max_points_per_voxel_); | ||
| voxel_points.emplace_back(transformed_point); | ||
| map_.emplace(voxel, std::move(voxel_points)); | ||
| } | ||
| }); |
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| @@ -117,7 +117,7 @@ LinearSystem BuildLinearSystem(const Correspondences &correspondences, const dou | |||
| // 2nd Lambda: Parallel reduction of the private Jacboians | |||
| sum_linear_systems); | |||
|
|
|||
| return {JTJ, JTr}; | |||
| return linear_system; | |||
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Contributor
Author
|
Nevermind, all of this is useless. Only helped me to learn about possible SIMD optimizations. |
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This pull request mainly refactors
Updatefunction in theVoxelHashMapto improve code efficiency in how voxel maps are updated.VoxelHashMap::Updateto transform and insert points into the voxel map in-place, avoiding creation of an intermediate transformed points vector and usingemplacefor more efficient map insertion.VoxelHashMap::AddPointsandVoxelDownsampleto useemplaceinstead ofinsertfor more efficient and concise map population.VoxelHashMap::GetClosestNeighborandBuildLinearSystem