Method downsampleInputCloud

grid_map_pcl/src/PointcloudProcessor.cpp:87–95

}

Pointcloud::Ptr PointcloudProcessor::downsampleInputCloud(Pointcloud::ConstPtr inputCloud) const {
  pcl::VoxelGrid<pcl::PointXYZ> voxelGrid;
  voxelGrid.setInputCloud(inputCloud);
  const auto& voxelSize = params_->get().downsampling_.voxelSize_;
  voxelGrid.setLeafSize(voxelSize.x(), voxelSize.y(), voxelSize.z());
  Pointcloud::Ptr downsampledCloud(new Pointcloud());
  voxelGrid.filter(*downsampledCloud);
  return downsampledCloud;
}

void PointcloudProcessor::savePointCloudAsPcdFile(const std::string& filename, const Pointcloud& cloud) {
  pcl::PCDWriter writer;