Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Zero copy for Eigen::Matrix3XT and Eigen::Map<const Eigen::Matrix3XT> #43

Merged
merged 11 commits into from
Sep 10, 2015
Merged

Zero copy for Eigen::Matrix3XT and Eigen::Map<const Eigen::Matrix3XT> #43

merged 11 commits into from
Sep 10, 2015

Conversation

simonlynen
Copy link
Collaborator

  • Make nabo a template of the cloud type.
  • Add explicit instantiation for some types:
    • Eigen::MatrixXf
    • Eigen::MatrixXd
    • Eigen::Matrix3Xf
    • Eigen::Matrix3Xd
    • Eigen::Map<const Matrix3Xf, Eigen::Aligned>
    • Eigen::Map<const Eigen::Matrix3Xd, Eigen::Aligned>
  • Added helpers to test to allow testing these types.
  • Fixed opencl implementation, but one method is not implemented and runtime crashes occur on my machine.

@simonlynen
Copy link
Collaborator Author

@HannesSommer @tcies ptal

@HannesSommer
Copy link
Collaborator

Oh my, this is pretty big... I couldn't do a thorough review. But for my time budget: lgtm.

@simonlynen
Copy link
Collaborator Author

@dymczykm could you take a pass please?

@simonlynen
Copy link
Collaborator Author

@idryanov ptal

idryanov
idryanov reviewed Sep 10, 2015
View reviewed changes
nabo/nabo.h
@@ -266,6 +268,7 @@ namespace Nabo
//! the high bound of the search space (axis-aligned bounding box)
const Vector maxBound;


Copy link

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

revert?

@idryanov
Copy link

LGTM. Do you have unit tests that check the behavior with the default type (MatrixXf)?

@simonlynen
Copy link
Collaborator Author

@HannesSommer @idryanov thanks for the review.

@idryanov For the 3d-data I test the types: MatrixXf, Matrix3Xf and Map<const Matrix3Xf>
https://github.com/ethz-asl/libnabo/blob/feature/zero_copy/tests/knnvalidate.cpp#L243-L245

simonlynen added a commit that referenced this pull request Sep 10, 2015
@simonlynen
Merge pull request #43 from ethz-asl/feature/zero_copy
8437511 
Zero copy for Eigen::Matrix3XT and Eigen::Map<const Eigen::Matrix3XT>
@simonlynen simonlynen merged commit 8437511 into master Sep 10, 2015
@simonlynen simonlynen deleted the feature/zero_copy branch September 10, 2015 03:49
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers
No reviews
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
3 participants
@simonlynen @HannesSommer @idryanov