Skip to content

downsample_filter#

Purpose#

The downsample_filter is a node that reduces the number of points.

Inner-workings / Algorithms#

Approximate Downsample Filter#

pcl::VoxelGridNearestCentroid is used. The algorithm is described in tier4_pcl_extensions

Random Downsample Filter#

pcl::RandomSample is used, which points are sampled with uniform probability.

Voxel Grid Downsample Filter#

pcl::VoxelGrid is used, which points in each voxel are approximated with their centroid.

Inputs / Outputs#

These implementations inherit pointcloud_preprocessor::Filter class, please refer README.

Parameters#

Note Parameters#

These implementations inherit pointcloud_preprocessor::Filter class, please refer README.

Core Parameters#

Approximate Downsample Filter#

Name Type Default Value Description
voxel_size_x double 0.3 voxel size x [m]
voxel_size_y double 0.3 voxel size y [m]
voxel_size_z double 0.1 voxel size z [m]

Random Downsample Filter#

Name Type Default Value Description
sample_num int 1500 number of indices to be sampled

Voxel Grid Downsample Filter#

Name Type Default Value Description
voxel_size_x double 0.3 voxel size x [m]
voxel_size_y double 0.3 voxel size y [m]
voxel_size_z double 0.1 voxel size z [m]

Assumptions / Known limits#

(Optional) Error detection and handling#

(Optional) Performance characterization#

(Optional) Future extensions / Unimplemented parts#

Back to top