With move

PRBonn · Jul 11, 2024 · 07f97b1 · 07f97b1
1 parent 3e7abb6
commit 07f97b1
Showing 1 changed file with 5 additions and 2 deletions.
diff --git a/cpp/kiss_icp/core/Preprocessing.cpp b/cpp/kiss_icp/core/Preprocessing.cpp
@@ -28,6 +28,7 @@
 #include <Eigen/Core>
 #include <algorithm>
 #include <cmath>
+#include <iterator>
 #include <sophus/se3.hpp>
 #include <vector>
 
@@ -43,8 +44,10 @@ std::vector<Eigen::Vector3d> VoxelDownsample(const std::vector<Eigen::Vector3d>
         if (!grid.contains(voxel)) grid.insert({voxel, point});
     });
     std::vector<Eigen::Vector3d> frame_dowsampled(grid.size());
-    std::transform(grid.begin(), grid.end(), frame_dowsampled.begin(),
-                   [](const auto &voxel_and_point) { return voxel_and_point.second; });
+    std::transform(std::make_move_iterator(grid.begin()),  //
+                   std::make_move_iterator(grid.end()),    //
+                   frame_dowsampled.begin(),
+                   [](auto &&voxel_and_point) { return voxel_and_point.second; });
     return frame_dowsampled;
 }