Struct NDT::VoxelData

Nested Relationships

This struct is a nested type of Class NDT.

Nested Types

Struct Documentation

struct VoxelData

Public Functions

VoxelData() = default
inline auto points() const -> PointSpan
inline void insertPoint(const mrpt::math::TPoint3Df &p, const mrpt::math::TPoint3Df &sensorPose)
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

inline bool has_ndt() const
inline size_t size() const
inline const auto &was_seen_from() const
struct PointSpan

Public Functions

inline PointSpan(const point_vector_t &points, uint32_t n)
inline size_t size() const
inline bool empty() const
inline mrpt::math::TPoint3Df operator[](int i) const