How to use AddNodePointsDownsample API interface

[chufuchang]

Could you please provide an example of how to call the AddNodePointsDownsample interface of RGL Lidar? I added a downsampling node as shown in the figure, but it didn't work.

[msz-rai]

@chufuchang
Thank you for reporting this issue.

Based on you screenshot, downsample node should be added to the main lidar graph and the filter should be applied. Could you please explain how you determined that downsampling isn’t working? Have you tried using different leaf size values?

Downsampling in RGL is based on the VoxelGrid filter from PCL (link). You can find the API call documentation here.