Downsample cloud from current scan laserCloudCornerLastDS-clear; downSizeFilterCornersetInputCloudlaserCloudCornerLast; downSizeFilterCornerfilterlaserCloudCornerLastDS; laserCloudCornerLa

This code snippet is downsampling a point cloud from the current scan.

First, the laserCloudCornerLastDS point cloud is cleared. Then, the downSizeFilterCorner object is used to downsample the laserCloudCornerLast point cloud, and the result is stored in the laserCloudCornerLastDS point cloud. The variable laserCloudCornerLastDSNum is assigned the size of the laserCloudCornerLastDS point cloud.

Next, the laserCloudSurfLastDS point cloud is cleared. The downSizeFilterSurf object is used to downsample the laserCloudSurfLast point cloud, and the result is stored in the laserCloudSurfLastDS point cloud. The variable laserCloudSurfLastDSNum is assigned the size of the laserCloudSurfLastDS point cloud