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Modularize Preprocessing Pipeline #295

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nachovizzo opened this issue Mar 18, 2024 · 0 comments
Open
3 tasks

Modularize Preprocessing Pipeline #295

nachovizzo opened this issue Mar 18, 2024 · 0 comments
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enhancement New feature or request help wanted Extra attention is needed

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@nachovizzo
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nachovizzo commented Mar 18, 2024

As exposed in #290 where we made the registration module a class, I think we should go ahead and do the same with the preprocessing module, allowing us for more customization/parametrization of this bit. I'm copying the last part of that PR in here:

From a system point of view, it's nice that we now have this design:

// KISS-ICP pipeline modules
Registration registration_;
VoxelHashMap local_map_;
AdaptiveThreshold adaptive_threshold_;

Makes me wonder if we shouldn't merge Deskew into Preprocessing and convert it to another component as well 👀 , similar to how we do it in Python 🤔 , but to be discussed later

Items to address

  • Deskew is a preprocessing step, should be there
  • I'd love to move the preprocessing step for Kitti out of our CORE library and just drop it in the Python bindings to avoid people reporting the wrong number in papers
  • Decide if it's worth doing the deskewing with tbb, probably we should benchmark it (I think the answer is yes). If we keep it, we should decide on a clean way to control the number of threads "globally" Add support for limiting num_threads in tbb task #252 (comment)

CC @tizianoGuadagnino , @benemer

@nachovizzo nachovizzo self-assigned this Mar 18, 2024
@tizianoGuadagnino tizianoGuadagnino self-assigned this Apr 4, 2024
@tizianoGuadagnino tizianoGuadagnino added enhancement New feature or request help wanted Extra attention is needed labels Jul 9, 2024
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