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ICP gridSamples: drop the dense-cloud size check - #7237
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isCoveredByVertices() has already returned false at this point, which by its contract means meshToDensePointCloud() adds samples beyond the vertices, so the cloud is always larger than mesh.points and the check never fired. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Grantim
approved these changes
Oct 23, 2026
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gridSamples()reachesmeshToDensePointCloud()only afterisCoveredByVertices()returned false, which by its contract is exactly the case when the dense cloud contains samples beyond the mesh vertices. The cloud starts as a copy of allmesh.pointsslots and appends those samples, sodense->points.size() <= mp->mesh.points.size()could never be true there. This PR removes the redundant check and keeps only the failure fallback.🤖 Generated with Claude Code