fix comments

prime-slam · Nov 22, 2023 · 1cae797 · 1cae797
1 parent 05bc25b
commit 1cae797
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Showing 2 changed files with 3 additions and 1 deletion.
diff --git a/octreelib/grid/grid.py b/octreelib/grid/grid.py
@@ -67,7 +67,7 @@ def insert_points(self, pose_number: int, points: PointCloud):
         # Register pose
         self.__pose_voxel_coordinates[pose_number] = []
 
-        # Distribute points to voxels using numpy operations
+        # Distribute points to voxels
         voxel_indices = (
             (points - self._grid_config.corner) // self._grid_config.voxel_edge_length
         ) * self._grid_config.voxel_edge_length

diff --git a/octreelib/octree/octree.py b/octreelib/octree/octree.py
@@ -71,6 +71,8 @@ def insert_points(self, points: PointCloud):
             child_indices_for_points = (
                 (points - self.corner_min) // (self.edge_length / 2)
             ).astype(int)
+
+            # Create a unique identifier for each voxel based on its indices
             unique_indices, inverse_indices = np.unique(
                 child_indices_for_points, axis=0, return_inverse=True
             )