12345qiupeng
/
cartographer
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Reserve memory for cells in probability_values.cc (#1531) 

Done to avoid unnecessary reallocation.
master
damienrg 2019-03-08 10:57:10 +01:00 committed by Wally B. Feed
parent d06b0ab63f
commit 301a72fa42
1 changed files with 5 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
cartographer/mapping/probability_values.cc
View File

@ -42,7 +42,9 @@ std::unique_ptr<std::vector<float>> PrecomputeValueToBoundedFloat(
auto result = absl::make_unique<std::vector<float>>(); auto result = absl::make_unique<std::vector<float>>();
// Repeat two times, so that both values with and without the update marker // Repeat two times, so that both values with and without the update marker
// can be converted to a probability. // can be converted to a probability.
for (int repeat = 0; repeat != 2; ++repeat) { constexpr int kRepetitionCount = 2;
result->reserve(kRepetitionCount * kNumberOfValues);
for (int repeat = 0; repeat != kRepetitionCount; ++repeat) {
for (int value = 0; value != kNumberOfValues; ++value) { for (int value = 0; value != kNumberOfValues; ++value) {
result->push_back(SlowValueToBoundedFloat( result->push_back(SlowValueToBoundedFloat(
value, unknown_value, unknown_result, lower_bound, upper_bound)); value, unknown_value, unknown_result, lower_bound, upper_bound));
@ -73,6 +75,7 @@ const std::vector<float>* const kValueToCorrespondenceCost =
std::vector<uint16> ComputeLookupTableToApplyOdds(const float odds) { std::vector<uint16> ComputeLookupTableToApplyOdds(const float odds) {
std::vector<uint16> result; std::vector<uint16> result;
result.reserve(kNumberOfValues);
result.push_back(ProbabilityToValue(ProbabilityFromOdds(odds)) + result.push_back(ProbabilityToValue(ProbabilityFromOdds(odds)) +
kUpdateMarker); kUpdateMarker);
for (int cell = 1; cell != kNumberOfValues; ++cell) { for (int cell = 1; cell != kNumberOfValues; ++cell) {
@ -86,6 +89,7 @@ std::vector<uint16> ComputeLookupTableToApplyOdds(const float odds) {
std::vector<uint16> ComputeLookupTableToApplyCorrespondenceCostOdds( std::vector<uint16> ComputeLookupTableToApplyCorrespondenceCostOdds(
float odds) { float odds) {
std::vector<uint16> result; std::vector<uint16> result;
result.reserve(kNumberOfValues);
result.push_back(CorrespondenceCostToValue(ProbabilityToCorrespondenceCost( result.push_back(CorrespondenceCostToValue(ProbabilityToCorrespondenceCost(
ProbabilityFromOdds(odds))) + ProbabilityFromOdds(odds))) +
kUpdateMarker); kUpdateMarker);