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KOKIAOKI / 3d_bbs

MIT License
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fix: implement discreate transformation of translation correctly #24

Closed KOKIAOKI closed 6 months ago

KOKIAOKI commented 6 months ago

Summary by CodeRabbit

coderabbitai[bot] commented 6 months ago

Walkthrough

The updates across the board revolve around refining the DiscreteTransformation struct and its usage, specifically in handling transformations. Changes include modifying constructor signatures to prefer integers over doubles for coordinates, introducing a transformation resolution parameter (trans_res), and streamlining method signatures by removing or adjusting parameters. These adjustments aim to enhance precision and efficiency in transformation calculations and branching logic, affecting both CPU and GPU implementations of the BBS3D algorithm.

Changes

Files Change Summary
bbs3d/include/.../bbs3d.hpp
bbs3d/include/.../bbs3d.cuh		 Updated DiscreteTransformation constructor to use int x, y, z; added trans_res to create_matrix; simplified branch method.
bbs3d/src/.../bbs3d.cpp
bbs3d/src/.../bbs3d.cu
bbs3d/src/.../discreate_transformation.cpp
bbs3d/src/.../discreate_transformation.cu		 Removed init_trans_res, adjusted transformations, scoring, and global_pose_ assignments.
bbs3d/src/gpu_bbs3d/calc_score.cu Adjusted translation calculation in calc_scores_kernel to include voxel map resolution.

🐰✨
In a world of code, sleek and vast,
Changes bloom, from the first to the last.
With integers marching, in orderly lines,
Transformations whirl, in digital signs.
Through CPU, GPU, in harmony they mesh,
Crafting worlds anew, in a silicon caress.
🌟🐾

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