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Simplify data_ and data_interface_ in KDTreeFlann. #6734

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Merged
merged 2 commits into from
Apr 17, 2024
Merged

Simplify data_ and data_interface_ in KDTreeFlann. #6734

merged 2 commits into from
Apr 17, 2024

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PieroV
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@PieroV PieroV commented Mar 29, 2024 •
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Type

  • Bug fix (non-breaking change which fixes an issue): Fixes KDTreeFlann search error with step by step run #6235 (there might be others related)
  • New feature (non-breaking change which adds functionality). Resolves #
  • Breaking change (fix or feature that would cause existing functionality to not work as expected) Resolves #

Motivation and Context

KDTreeFlann::SetRawData had some confusion around data, data_, and data_interface_.

As a result, the data from the parameter was copied to the member std::vector, but the interface (which uses an Eigen::Map) used the data passed as an argument to the method.
As a result, the searches risked to be run on a dangling pointer, instead of the intended internal storage.

This produced unexpected/wrong results sometimes.

Checklist:

  • I have run python util/check_style.py --apply to apply Open3D code style
    to my code.
  • This PR changes Open3D behavior or adds new functionality.
    • Both C++ (Doxygen) and Python (Sphinx / Google style) documentation is
      updated accordingly.
    • I have added or updated C++ and / or Python unit tests OR included test
      results       (e.g. screenshots or numbers) here.
    • I have not updated any documentation, because I'm fixing a bug
  • I will follow up and update the code if CI fails.
  • For fork PRs, I have selected Allow edits from maintainers.

Description

The most surgical change would make change the existing Eigen::Map to refer the internal storage.

However, I noticed that the 4 members (data_, data_interface_, dimension_, dataset_size_) were all to be kept in sync.
So, I preferred simplifying the code, copy the argument to an Eigen::MatrixXd and remove everything else (I replaced the dataset size and dimension with the rows and cols of the new matrix, and the matrix itself is the owner of the storage).

I noticed the data was protected, rather than private, but the build didn't break.
I will update the fix if subclasses are borken.

@update-docs Update Docs
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update-docs bot commented Mar 29, 2024

Thanks for submitting this pull request! The maintainers of this repository would appreciate if you could update the CHANGELOG.md based on your changes.

@PieroV PieroV force-pushed the flann-member-data branch from 3a9c694 to 46216d8 Compare March 29, 2024 18:15
@PieroV
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PieroV commented Mar 29, 2024

I have some problems in getting clang-format-10, so I didn't

Seriously though, the CI could at least give a patch to apply to make the formatting pass 😅.

@PieroV
Simplify data_ and data_interface_ in KDTreeFlann.
3ed4e34 
KDTreeFlann::SetRawData had some confusion around data, data_, and
data_interface_. As a result, the data from the parameter was copied to
the member std::vector, but the interface (which takes an Eigen::Map)
used the data passed as an argument to the method.
As a result, the searches risked to be run on a dangling pointer,
instead of the intended internal storage.

However, rather than adjusting the pointer for Eigen::Map, I preferred
simplifying the code, and copy the argument to an Eigen::MatrixXd.
@PieroV PieroV force-pushed the flann-member-data branch from 46216d8 to 3ed4e34 Compare March 29, 2024 18:31
@ssheorey
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ssheorey commented Mar 31, 2024 •
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I have some problems in getting clang-format-10, so I didn't

Seriously though, the CI could at least give a patch to apply to make the formatting pass 😅.

Sorry about that - the CI script can actually fix the formatting for you:

cd build; make apply-style or
python util/check_style.py --apply

A great quality of life improvement would be to make an automatic bot commit this in the CI.

clang-format-10 should be (perpetually?) available through pip install clang-format~=10.0

@PieroV
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PieroV commented Apr 1, 2024

No worries, eventually I managed to format 😄.

clang-format-10 should be (perpetually?) available through pip install clang-format~=10.0

Thanks, I didn't know this!
I ran clang-format-10 in an Ubuntu live VM creted on the fly instead 😂. Installing with pip should be definitely easier 🙂.

@ssheorey ssheorey self-requested a review April 17, 2024 23:02
ssheorey
ssheorey approved these changes Apr 17, 2024
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Thanks @PieroV . Looks good!

@ssheorey ssheorey merged commit 785878f into isl-org:main Apr 17, 2024
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KDTreeFlann search error with step by step run
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@PieroV @ssheorey