struct mola::KeyframePointCloudMap::CachedData

Overview

struct CachedData
{
    // fields

    std::optional<mrpt::math::TBoundingBoxf> boundingBox;
    std::optional<std::set<KeyFrameID>> icp_search_kfs;
    std::optional<KeyFrame> icp_search_submap;
    bool icp_search_built_approximate = false;
    mrpt::maps::CSimplePointsMap::Ptr cachedPoints;

    // methods

    void reset();
};

Fields

bool icp_search_built_approximate = false

Value of creationOptions.approximate_cov used to build the cache above. Compared against the live option in icp_get_prepared_as_global() so that toggling the flag (even with an unchanged active KF set) forces a rebuild instead of silently reusing a cache built under the other mode.

mrpt::maps::CSimplePointsMap::Ptr cachedPoints

Used for getAsSimplePointsMap only.