struct mp2p_icp::Matcher_Points_Base::TransformedLocalPointCloud

Overview

the output of transform_local_to_global()

#include <Matcher_Points_Base.h>

struct TransformedLocalPointCloud
{
    // fields

    mrpt::math::TPoint3Df localMin {fMax, fMax, fMax};
    mrpt::math::TPoint3Df localMax {-fMax, -fMax, -fMax};
    std::optional<std::vector<std::size_t>> idxs;
    mrpt::aligned_std_vector<float> x_locals;
    mrpt::aligned_std_vector<float> y_locals;
    mrpt::aligned_std_vector<float> z_locals;
};

Fields

std::optional<std::vector<std::size_t>> idxs

Reordering indexes, used only if we had to pick random indexes

mrpt::aligned_std_vector<float> x_locals

Transformed local points: all, or a random subset