struct mola::NDT::VoxelData

Overview

#include <NDT.h>

struct VoxelData
{
    // structs

    struct PointSpan;

    // methods

    auto points() const;

    void insertPoint(
        const mrpt::math::TPoint3Df& p,
        const mrpt::math::TPoint3Df& sensorPose
        );

    const std::optional<mp2p_icp::PointCloudEigen>& ndt() const;
    bool has_ndt() const;
    size_t size() const;
    const auto& was_seen_from() const;
};

Methods

const std::optional<mp2p_icp::PointCloudEigen>& ndt() const

Gets cached NDT for this voxel, or computes it right now. If there are no points enough, nullopt is returned