| 384 | } |
| 385 | |
| 386 | void downsampleCurrentScan() |
| 387 | { |
| 388 | laserCloudFullLastDS->clear(); |
| 389 | for(int i=0; i<laserCloudFullLast->size(); i++) |
| 390 | if(i%point_filter_num==0) |
| 391 | laserCloudFullLastDS->points.emplace_back(laserCloudFullLast->points[i]); |
| 392 | |
| 393 | // Downsample cloud from current scan |
| 394 | downSizeFilterScan.setInputCloud(laserCloudFullLastDS); |
| 395 | downSizeFilterScan.filter(*laserCloudFullLastDS); |
| 396 | laserCloudFullLastDSNum = laserCloudFullLastDS->size(); |
| 397 | } |
| 398 | |
| 399 | void featureMatching(int iterCount) |
| 400 | { |