Function ds_point_cloud

examples/global_localization.cpp:1029–1035

}

void ds_point_cloud(pcl::PointCloud<PointType>::Ptr &pc_in,
                    pcl::PointCloud<PointType>::Ptr &pc_out) {
  int N = std::min(int(pc_in->points.size()), 3);
  for (int index = 0; index < N; index++) {
    pc_out->points.push_back(pc_in->points[index]);
  }
}