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Optimize by removing extra loop and using emplace #494

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3c70054
remove extra loop, use emplaces instead of inserts, return linear sys…
saurabh1002 Apr 27, 2026
068188c
Potential fix for pull request finding
saurabh1002 Apr 27, 2026
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4 changes: 2 additions & 2 deletions cpp/kiss_icp/core/Registration.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -98,7 +98,7 @@ LinearSystem BuildLinearSystem(const Correspondences &correspondences, const dou
};

using correspondence_iterator = Correspondences::const_iterator;
const auto &[JTJ, JTr] = tbb::parallel_reduce(
const auto linear_system = tbb::parallel_reduce(
// Range
tbb::blocked_range<correspondence_iterator>{correspondences.cbegin(),
correspondences.cend()},
Expand All @@ -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;
Comment on lines 101 to +120
}
} // namespace

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32 changes: 25 additions & 7 deletions cpp/kiss_icp/core/VoxelHashMap.cpp
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Expand Up @@ -66,7 +66,7 @@ std::tuple<Eigen::Vector3d, double> VoxelHashMap::GetClosestNeighbor(
}
}
});
return std::make_tuple(closest_neighbor, closest_distance);
return {closest_neighbor, closest_distance};
}

std::vector<Eigen::Vector3d> VoxelHashMap::Pointcloud() const {
Expand All @@ -87,11 +87,29 @@ void VoxelHashMap::Update(const std::vector<Eigen::Vector3d> &points,
}

void VoxelHashMap::Update(const std::vector<Eigen::Vector3d> &points, const Sophus::SE3d &pose) {
std::vector<Eigen::Vector3d> points_transformed(points.size());
std::transform(points.cbegin(), points.cend(), points_transformed.begin(),
[&](const auto &point) { return pose * point; });
const Eigen::Vector3d &origin = pose.translation();
Update(points_transformed, origin);
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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saurabh1002 marked this conversation as resolved.
Comment on lines +90 to +111
RemovePointsFarFromLocation(pose.translation());
}

void VoxelHashMap::AddPoints(const std::vector<Eigen::Vector3d> &points) {
Expand All @@ -113,7 +131,7 @@ void VoxelHashMap::AddPoints(const std::vector<Eigen::Vector3d> &points) {
std::vector<Eigen::Vector3d> voxel_points;
voxel_points.reserve(max_points_per_voxel_);
voxel_points.emplace_back(point);
map_.insert({voxel, std::move(voxel_points)});
map_.emplace(voxel, std::move(voxel_points));
}
});
}
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2 changes: 1 addition & 1 deletion cpp/kiss_icp/core/VoxelUtils.cpp
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Expand Up @@ -10,7 +10,7 @@ std::vector<Eigen::Vector3d> VoxelDownsample(const std::vector<Eigen::Vector3d>
grid.reserve(frame.size());
std::for_each(frame.cbegin(), frame.cend(), [&](const auto &point) {
const auto voxel = PointToVoxel(point, voxel_size);
if (!grid.contains(voxel)) grid.insert({voxel, point});
if (!grid.contains(voxel)) grid.emplace(voxel, point);
});
std::vector<Eigen::Vector3d> frame_dowsampled;
frame_dowsampled.reserve(grid.size());
Expand Down
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