Update cpp/kiss_icp/core/VoxelHashMap.cpp

Co-authored-by: Luca Lobefaro <[email protected]>
PRBonn · Aug 6, 2024 · d7ab6c4 · d7ab6c4
1 parent 3468864
commit d7ab6c4
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/cpp/kiss_icp/core/VoxelHashMap.cpp b/cpp/kiss_icp/core/VoxelHashMap.cpp
@@ -58,6 +58,11 @@ std::vector<Eigen::Vector3d> VoxelHashMap::Pointcloud() const {
 
 // Get the indices of the occupided voxels as points, mainly used for visualization
 std::vector<Voxel> VoxelHashMap::GetVoxels() const {
+std::vector<Voxel> voxels(map_.size());
+    std::transform(map_.cbegin(), map_.cend(), voxels.begin(),
+                   [](const auto &map_element) { return map_element.first; });
+    return voxels;
+}
     std::vector<Voxel> voxels;
     voxels.reserve(map_.size());
     for (const auto &[voxel, voxel_block] : map_) {