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PRBonn / kiss-icp

A LiDAR odometry pipeline that just works
https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2023ral.pdf
MIT License
1.6k stars 321 forks source link

[WIP] Downsampling through robin_set #360

Closed tizianoGuadagnino closed 4 months ago

tizianoGuadagnino commented 4 months ago

This PR tries to maintain the classical behavior of our beloved VoxelDownsamplewhile taking what is good from #347, a.k.a. avoiding the double for loop over the LiDAR frame and hash table.

All the credit for this change goes to @l00p3. Once it is ready to merge (if), I will ensure you are between the contributors.

I will start the testing process today and come back to you, @nachovizzo @benemer feel free to be -Wpedantic

tizianoGuadagnino commented 4 months ago

The difference in performances between the two versions is nothing, and I feel the code for the random sampling + robin_set is much more at the end, and it is not worth the space. We will keep the (modernized) original version (hopefully #362 ) and think about this later.