UniformSampling Filter | add a minimum number of points required for a voxel option

PointCloudLibrary / pcl

Point Cloud Library (PCL)

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UniformSampling Filter | add a minimum number of points required for a voxel option #5968

Closed ufrhaidar closed 4 months ago

ufrhaidar commented 7 months ago

Description

This pull request modifies the UniformSampling filter to include a min_points_per_voxel_ filter. This allows users to specify a minimum number of points that a voxel must contain to be included in the output.

These changes allow users to filter out voxels that contain too few points, which can be useful in situations where such voxels are likely to be noise.

mvieth commented 7 months ago

Hi, this sounds like an interesting and useful addition to UniformSampling. However, I have a few comments:

please use unsigned int for count in Leaf
in the end, output has to be resized again based on how many points are actually added. Otherwise, output may have some uninitialized points at the end
maybe slightly adjust the documentation of min_points_per_voxel_ because no centroid is computed

ufrhaidar commented 7 months ago

Thanks for the comments.

The output.width = output.size (); i removed wasn't necessary as the output.resize() function was already doing that here