Eliminate unnecessary virtual calls

ethz-asl · Sep 29, 2023 · 9219056 · 9219056
1 parent 4e0a172
commit 9219056
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Showing 6 changed files with 14 additions and 14 deletions.
diff --git a/libraries/wavemap/include/wavemap/integrator/projection_model/ouster_projector.h b/libraries/wavemap/include/wavemap/integrator/projection_model/ouster_projector.h
@@ -51,8 +51,6 @@ class OusterProjector : public ProjectorBase {
 
   explicit OusterProjector(const Config& config);
 
-  IndexElement getNumRows() const final { return config_.elevation.num_cells; }
-  IndexElement getNumColumns() const final { return config_.azimuth.num_cells; }
   Vector2D getMinImageCoordinates() const final {
     return {config_.elevation.min_angle, config_.azimuth.min_angle};
   }

diff --git a/libraries/wavemap/include/wavemap/integrator/projection_model/pinhole_camera_projector.h b/libraries/wavemap/include/wavemap/integrator/projection_model/pinhole_camera_projector.h
@@ -46,11 +46,10 @@ class PinholeCameraProjector : public ProjectorBase {
   using Config = PinholeCameraProjectorConfig;
 
   explicit PinholeCameraProjector(const Config& config)
-      : ProjectorBase(Vector2D::Ones(), Vector2D::Zero()),
+      : ProjectorBase({config_.width, config_.height}, Vector2D::Ones(),
+                      Vector2D::Zero()),
         config_(config.checkValid()) {}
 
-  IndexElement getNumRows() const final { return config_.width; }
-  IndexElement getNumColumns() const final { return config_.height; }
   Vector2D getMinImageCoordinates() const final {
     return indexToImage(Index2D::Zero());
   }

diff --git a/libraries/wavemap/include/wavemap/integrator/projection_model/projector_base.h b/libraries/wavemap/include/wavemap/integrator/projection_model/projector_base.h
@@ -28,14 +28,16 @@ class ProjectorBase {
   using Ptr = std::shared_ptr<ProjectorBase>;
   using ConstPtr = std::shared_ptr<const ProjectorBase>;
 
-  ProjectorBase(Vector2D index_to_image_scale_factor, Vector2D image_offset)
-      : index_to_image_scale_factor_(std::move(index_to_image_scale_factor)),
+  ProjectorBase(Index2D dimensions, Vector2D index_to_image_scale_factor,
+                Vector2D image_offset)
+      : dimensions_(std::move(dimensions)),
+        index_to_image_scale_factor_(std::move(index_to_image_scale_factor)),
         image_offset_(std::move(image_offset)) {}
   virtual ~ProjectorBase() = default;
 
-  virtual IndexElement getNumRows() const = 0;
-  virtual IndexElement getNumColumns() const = 0;
-  Index2D getDimensions() const { return {getNumRows(), getNumColumns()}; }
+  IndexElement getNumRows() const { dimensions_.x(); }
+  IndexElement getNumColumns() const { dimensions_.y(); }
+  Index2D getDimensions() const { return dimensions_; }
   virtual Vector2D getMinImageCoordinates() const = 0;
   virtual Vector2D getMaxImageCoordinates() const = 0;
   virtual Eigen::Matrix<bool, 3, 1> sensorAxisIsPeriodic() const = 0;
@@ -90,6 +92,7 @@ class ProjectorBase {
       const Point3D& t_W_C) const = 0;
 
  protected:
+  const Index2D dimensions_;
   const Vector2D index_to_image_scale_factor_;
   const Vector2D image_to_index_scale_factor_ =
       Vector2D::Ones().cwiseQuotient(index_to_image_scale_factor_);

diff --git a/libraries/wavemap/include/wavemap/integrator/projection_model/spherical_projector.h b/libraries/wavemap/include/wavemap/integrator/projection_model/spherical_projector.h
@@ -37,8 +37,6 @@ class SphericalProjector : public ProjectorBase {
 
   explicit SphericalProjector(const Config& config);
 
-  IndexElement getNumRows() const final { return config_.elevation.num_cells; }
-  IndexElement getNumColumns() const final { return config_.azimuth.num_cells; }
   Vector2D getMinImageCoordinates() const final {
     return {config_.elevation.min_angle, config_.azimuth.min_angle};
   }

diff --git a/libraries/wavemap/src/integrator/projection_model/ouster_projector.cc b/libraries/wavemap/src/integrator/projection_model/ouster_projector.cc
@@ -5,12 +5,13 @@
 namespace wavemap {
 OusterProjector::OusterProjector(const OusterProjector::Config& config)
     : ProjectorBase(
+          {config_.elevation.num_cells, config_.azimuth.num_cells},
           Vector2D(config.elevation.max_angle - config.elevation.min_angle,
                    config.azimuth.max_angle - config.azimuth.min_angle)
               .cwiseQuotient(Index2D(config.elevation.num_cells - 1,
                                      config.azimuth.num_cells - 1)
                                  .cast<FloatingPoint>()),
-          Vector2D(config.elevation.min_angle, config.azimuth.min_angle)),
+          {config.elevation.min_angle, config.azimuth.min_angle}),
       config_(config.checkValid()) {}
 
 Eigen::Matrix<bool, 3, 1> OusterProjector::sensorAxisIsPeriodic() const {

diff --git a/libraries/wavemap/src/integrator/projection_model/spherical_projector.cc b/libraries/wavemap/src/integrator/projection_model/spherical_projector.cc
@@ -5,12 +5,13 @@
 namespace wavemap {
 SphericalProjector::SphericalProjector(const SphericalProjector::Config& config)
     : ProjectorBase(
+          {config_.elevation.num_cells, config_.azimuth.num_cells},
           Vector2D(config.elevation.max_angle - config.elevation.min_angle,
                    config.azimuth.max_angle - config.azimuth.min_angle)
               .cwiseQuotient(Index2D(config.elevation.num_cells - 1,
                                      config.azimuth.num_cells - 1)
                                  .cast<FloatingPoint>()),
-          Vector2D(config.elevation.min_angle, config.azimuth.min_angle)),
+          {config.elevation.min_angle, config.azimuth.min_angle}),
       config_(config.checkValid()) {}
 
 Eigen::Matrix<bool, 3, 1> SphericalProjector::sensorAxisIsPeriodic() const {