From 07f97b19f1b2b5c0e548b38349a9a7aa16f73bde Mon Sep 17 00:00:00 2001
From: tizianoGuadagnino <frevo93@gmail.com>
Date: Thu, 11 Jul 2024 09:30:11 +0200
Subject: [PATCH] With move

---
 cpp/kiss_icp/core/Preprocessing.cpp | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/cpp/kiss_icp/core/Preprocessing.cpp b/cpp/kiss_icp/core/Preprocessing.cpp
index 60c7ecc1..89c70f2d 100644
--- 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;
 }