| 683 | } |
| 684 | |
| 685 | void downsampleCurrentScan() |
| 686 | { |
| 687 | if (cloudKeyPoses3D->points.empty() ) |
| 688 | return; |
| 689 | // Downsample cloud from current scan |
| 690 | lidarCloudCornerLastDS->clear(); |
| 691 | downSizeFilterCorner.setInputCloud(lidarCloudCornerLast); |
| 692 | downSizeFilterCorner.filter(*lidarCloudCornerLastDS); |
| 693 | lidarCloudCornerLastDSNum = lidarCloudCornerLastDS->size(); |
| 694 | // cout<<"After sampling: "<<lidarCloudCornerLastDSNum<<endl; |
| 695 | lidarCloudSurfLastDS->clear(); |
| 696 | downSizeFilterSurf.setInputCloud(lidarCloudSurfLast); |
| 697 | downSizeFilterSurf.filter(*lidarCloudSurfLastDS); |
| 698 | lidarCloudSurfLastDSNum = lidarCloudSurfLastDS->size(); |
| 699 | } |
| 700 | |
| 701 | pcl::PointCloud<PointType>::Ptr transformPointCloud(pcl::PointCloud<PointType>::Ptr cloudIn, PointTypePose* transformIn) |
| 702 | { |