fix: optimization "createPlaneSegments" algorithm stage #45
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achains
requested changes
Sep 25, 2023
| @@ -73,6 +74,7 @@ class PlaneExtractor::Impl { | |||
| int32_t image_height_; | |||
| int32_t image_width_; | |||
| Eigen::MatrixXi labels_map_; | |||
| std::vector<std::vector<Eigen::Index>> neighbours; | |||
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- Why do we need precomputed
neighbours - Why is it a field of
PlaneExtractor? It doesn't make sense for me.
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To get rid of numerous calls to the getNeighbours function, in which we look at neighboring cells every time and initialize a vector with them, when processing each image
| unassigned_mask[i] = false; | ||
| --remaining_planar_cells; | ||
| } | ||
| for (auto& v : cells_to_merge) { |
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Using reference for primitive type (e.g. int) is more expensive than using its copy. It's better to remove &
| } | ||
| ++stacked_cell_id; | ||
| } | ||
| for (auto& v : cells_to_merge) { |
achains
approved these changes
Oct 20, 2023
achains
requested changes
Oct 20, 2023
cpp/deplex/src/deplex/cell_grid.cpp
Outdated
| @@ -15,6 +15,7 @@ | |||
| */ | |||
| #include "cell_grid.h" | |||
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| #include <iostream> | |||
achains
approved these changes
Oct 22, 2023
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