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kdmap's Introduction

Hey!

I'm Chris. My research connects perception, robotics and machine learning.
To learn more, visit https://cheind.github.io/ and browse my repositories 👇

Latest Updates
2024/03/13      Just published a code demo on image stitching via analytic homographies https://github.com/cheind/image-stitch
2023/08/01      My findings on the 'Anoto micro-dot codec' got published alongside with code https://github.com/cheind/py-microdots
2022/12/01      Added pure PyTorch implementation of Instant NGP for accelerated learning of NeRFs https://github.com/cheind/pure-torch-ngp

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kdmap's Issues

Trivial splits might cause endless recursion

What steps will reproduce the problem?

1. Create a node with split bounds bigger than the contained elements (as it 
can happy when using midpoint splitting)
2. Add two or more points with equal coordinates
3. Try to split.

What is the expected output? What do you see instead?

The ISplitDimensionPolicy should throw a DegenerateDatasetException. Instead 
an endless recursion might occur.


Original issue reported on code.google.com by [email protected] on 15 Jun 2009 at 8:41

Major performance issue

    private void TrySplit(KdNode<T> target) {
      try {
        _subdiv_policy.Split(target);
        target.Vectors = null;
        TrySplit(target.Left);
        TrySplit(target.Right);
      } catch (Subdivision.SubdivisionException) {}
    }

This implementation is bad.

if (target.Vectors.Count <= this.MaximumBucketSize)
        throw new BucketSizeException();

Line above should not be exceptional state, exceptions are very expensive and 
are not created for program flow control in C#. This is decreasing debugging 
speed enormously, and run speed also, but not as much. So if node is not big 
enough for splitting this should be handled by function return value or 
something, in any case not exception. 

Original issue reported on code.google.com by [email protected] on 29 Nov 2011 at 11:42

Rendering.RenderTreeCairo.Render always takes KdNode<IVector>

How can one render a tree of KdNode<Custom>?

p = Accelerators::Subdivision::SubdivisionPolicyConnector.new(1)
# Create a new kd-tree in two-dimensional space
t = Accelerators::KdTree[Accelerators::Vector].new(2, p)

rendering t will currently not work because the type argument is Vector.

Original issue reported on code.google.com by [email protected] on 21 Jun 2009 at 7:43

Make subdivision more flexible

Instead of repeating code in subdivisions (choosing axis, choosing
splitvalue), refactor to common interfaces. Use a connector to bring the
interfaces together and thus provide an implementation for ISubdivisionPolicy.

Original issue reported on code.google.com by [email protected] on 9 Jun 2009 at 4:18

_trivial_resolver null

 public SubdivisionPolicyConnector() {
      _max_bucket_size = 25;
      _dim_selector = new Accelerators.Subdivision.PeriodicAxisSelector();
      _loc_selector = new Accelerators.Subdivision.MidpointSelector();
    }

 _trivial_resolver = new NoOperationResolver() is not set in default ctor so you get null exception later.


Original issue reported on code.google.com by [email protected] on 29 Nov 2011 at 11:26

VectorOperations should use 'ref'

As a struct might implement the IVector interface it is necessary to flag all 
by reference parameters with the ref keyword. See 
Accelerators.VectorOperations for example.


Original issue reported on code.google.com by [email protected] on 21 Jun 2009 at 6:04

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