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;
    mrpt::maps::CSimplePointsMap::Ptr cachedPoints;

    // methods

    void reset();
};

Fields

mrpt::maps::CSimplePointsMap::Ptr cachedPoints

Used for getAsSimplePointsMap only.