update codes

Author: JokerJohn

README.md

@@ -27,7 +27,7 @@ These complementary aspects require different evaluation approaches, as global d
 
 ## News
 
-- **2025/07/05:** Update the parameter setting and more config examples.
+- **2025/07/06:** Use tbb to accerlerate mme caculation, update the parameter setting and more config examples.
 - **2025/05/05:** Add new test data and remove the simulation codes.
 - **2025/03/05**: [Formally published](https://ieeexplore.ieee.org/document/10910156)!
 - **2025/02/25**: Accept!
@@ -93,6 +93,7 @@ These complementary aspects require different evaluation approaches, as global d
 - *[Open3d ( >= 0.11)](https://github.com/isl-org/Open3D)* 
 - Eigen3
 - yaml-cpp
+- Tbb
 - Ubuntu 20.04
 
 ### Test Data(password: 1)

map_eval/CMakeLists.txt

@@ -5,14 +5,15 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_BUILD_TYPE Release)
 
 #if you can not find your open3d install path, just mannually set it
-set(Open3D_DIR "/home/xchu/xicp_ws/devel/.private/open3d_catkin/lib/cmake/Open3D")
-message(STATUS "LTLoc: Set Open3D_DIR to ${Open3D_DIR}") # 打印信息，确认设置生效
+#set(Open3D_DIR "/home/xchu/xicp_ws/devel/.private/open3d_catkin/lib/cmake/Open3D")
+#message(STATUS "LTLoc: Set Open3D_DIR to ${Open3D_DIR}") # 打印信息，确认设置生效
 
 find_package(Open3D REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(OpenMP REQUIRED)
 find_package(PCL REQUIRED)
 find_package(yaml-cpp REQUIRED)
+find_package(TBB REQUIRED)
 
 message(STATUS "yaml-cpp library: ${YAML_CPP_LIBRARY}")
 message(STATUS "yaml-cpp include: ${YAML_CPP_INCLUDE_DIR}")
@@ -31,7 +32,7 @@ include_directories(
 )
 
 add_executable(map_eval src/map_eval.cpp src/map_eval_main.cpp src/voxel_calculator.cpp)
-target_link_libraries(map_eval ${Open3D_LIBRARIES} ${PCL_LIBRARIES}  yaml-cpp)
+target_link_libraries(map_eval ${Open3D_LIBRARIES} ${PCL_LIBRARIES} yaml-cpp TBB::tbb)
 
 
 

map_eval/config/config.yaml

@@ -37,6 +37,9 @@ save_immediate_result: true
 # it costs a lot of time to calculate MME, so we set it as false by default
 evaluate_mme: false
 
+# if use TBB acceleration for MME calculation
+use_tbb_mme: true
+
 # if we have ground truth map, we also want to evaluate the MME of the ground truth map
 evaluate_gt_mme: false
 
@@ -66,4 +69,5 @@ downsample_size: 0.01
 use_visualization: true
 
 # if print the debug info
-enable_debug: true
+enable_debug: false
+

map_eval/config/config_building_day.yaml

@@ -26,7 +26,7 @@ gt_map_path: /media/xchu/e81eaf80-d92c-413a-a503-1c9b35b19963/home/xchu/data/eva
 
 
 # scene name, not important, just for batch processing for a series of scenes
-scene_name: stairs
+scene_name: building_day
 
 # other settings
 # if we save the immediate result to a text file
@@ -35,7 +35,10 @@ save_immediate_result: true
 # if evaluate Mean Map Entropy (MME) if you do not have ground truth map
 # but remember, MME can be only used for map comparison with the same scale, e.g., maps are for odometry.
 # it costs a lot of time to calculate MME, so we set it as false by default
-evaluate_mme: false
+evaluate_mme: true
+
+# if use TBB acceleration for MME calculation
+use_tbb_mme: true
 
 # if we have ground truth map, we also want to evaluate the MME of the ground truth map
 evaluate_gt_mme: false
@@ -63,7 +66,7 @@ vmd_voxel_size: 2.0
 downsample_size: 0.01
 
 # if show the evaluation error map after registration
-use_visualization: true
+use_visualization: false
 
 # if print the debug info
 enable_debug: true