Struct KeyframePointCloudMap::CachedData

Defined in File KeyframePointCloudMap.h

Nested Relationships

This struct is a nested type of Class KeyframePointCloudMap.

Struct Documentation

struct CachedData

Public Functions

CachedData() = default

inline void reset()

Public Members

mutable std::optional<mrpt::math::TBoundingBoxf> boundingBox

mutable std::optional<std::set<KeyFrameID>> icp_search_kfs

mutable std::optional<KeyFrame> icp_search_submap

mutable mrpt::maps::CSimplePointsMap::Ptr cachedPoints: Used for getAsSimplePointsMap only.