perf: remove evecs_, evals_

tier4 · Nov 22, 2024 · 106cbaa · 106cbaa
1 parent f557f39
commit 106cbaa
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Showing 2 changed files with 4 additions and 33 deletions.
diff --git a/include/pclomp/voxel_grid_covariance_omp.h b/include/pclomp/voxel_grid_covariance_omp.h
@@ -98,16 +98,14 @@ namespace pclomp
       struct Leaf
       {
         /** \brief Constructor.
-         * Sets \ref nr_points, \ref icov_, \ref mean_ and \ref evals_ to 0 and \ref cov_ and \ref evecs_ to the identity matrix
+         * Sets \ref nr_points, \ref icov_, \ref mean_ and \ref cov_ to the identity matrix
          */
         Leaf () :
           nr_points (0),
           mean_ (Eigen::Vector3d::Zero ()),
           centroid (),
           cov_ (Eigen::Matrix3d::Identity ()),
           icov_ (Eigen::Matrix3d::Zero ()),
-          evecs_ (Eigen::Matrix3d::Identity ()),
-          evals_ (Eigen::Vector3d::Zero ())
         {
         }
 
@@ -138,26 +136,6 @@ namespace pclomp
           return (mean_);
         }
 
-        /** \brief Get the eigen vectors of the voxel covariance.
-          * \note Order corresponds with \ref getEvals
-          * \return matrix whose columns contain eigen vectors
-          */
-        Eigen::Matrix3d
-        getEvecs () const
-        {
-          return (evecs_);
-        }
-
-        /** \brief Get the eigen values of the voxel covariance.
-          * \note Order corresponds with \ref getEvecs
-          * \return vector of eigen values
-          */
-        Eigen::Vector3d
-        getEvals () const
-        {
-          return (evals_);
-        }
-
         /** \brief Get the number of points contained by this voxel.
           * \return number of points
           */
@@ -183,13 +161,6 @@ namespace pclomp
 
         /** \brief Inverse of voxel covariance matrix */
         Eigen::Matrix3d icov_;
-
-        /** \brief Eigen vectors of voxel covariance matrix */
-        Eigen::Matrix3d evecs_;
-
-        /** \brief Eigen values of voxel covariance matrix */
-        Eigen::Vector3d evals_;
-
       };
 
       /** \brief Pointer to VoxelGridCovariance leaf structure */

diff --git a/include/pclomp/voxel_grid_covariance_omp_impl.hpp b/include/pclomp/voxel_grid_covariance_omp_impl.hpp
@@ -274,6 +274,7 @@ pclomp::VoxelGridCovariance<PointT>::applyFilter (PointCloud &output)
   // Eigen values and vectors calculated to prevent near singular matrices
   Eigen::SelfAdjointEigenSolver<Eigen::Matrix3d> eigensolver;
   Eigen::Matrix3d eigen_val;
+  Eigen::Matrix3d eigen_vec;
   Eigen::Vector3d pt_sum;
 
   // Eigen values less than a threshold of max eigen value are inflated to a set fraction of the max eigen value.
@@ -332,7 +333,7 @@ pclomp::VoxelGridCovariance<PointT>::applyFilter (PointCloud &output)
       //Normalize Eigen Val such that max no more than 100x min.
       eigensolver.compute (leaf.cov_);
       eigen_val = eigensolver.eigenvalues ().asDiagonal ();
-      leaf.evecs_ = eigensolver.eigenvectors ();
+      eigen_vec = eigensolver.eigenvectors ();
 
       if (eigen_val (0, 0) < 0 || eigen_val (1, 1) < 0 || eigen_val (2, 2) <= 0)
       {
@@ -352,9 +353,8 @@ pclomp::VoxelGridCovariance<PointT>::applyFilter (PointCloud &output)
           eigen_val (1, 1) = min_covar_eigvalue;
         }
 
-        leaf.cov_ = leaf.evecs_ * eigen_val * leaf.evecs_.inverse ();
+        leaf.cov_ = eigen_vec * eigen_val * eigen_vec.inverse ();
       }
-      leaf.evals_ = eigen_val.diagonal ();
 
       leaf.icov_ = leaf.cov_.inverse ();
       if (leaf.icov_.maxCoeff () == std::numeric_limits<float>::infinity ( )