How does voxel_downsampling work ?

[an99990]

Checklist

• [X] I have searched for similar issues.
• [X] For Python issues, I have tested with the latest development wheel.
• [X] I have checked the release documentation and the latest documentation (for master branch).

My Question

Hi, So I am subscribing to a ros topic that gets me point cloud of shape N x 4. I use voxel_down_sample to down sample the point cloud. I use 0.2 as voxel_size. It is unclear if the final point cloud will be 0.2 x original size ? I get different shape of point cloud every time i down sample even if my point cloud are always the same shapes ...

How is the voxel size applied to the point cluod ? the documentation is not clear it says : Voxel size to downsample into. http://www.open3d.org/docs/0.6.0/python_api/open3d.geometry.voxel_down_sample.html

thank you

[an99990]

I found that it was because of me using remove_non_finite_points() that changed the number of point clouds. But now its even weirder because no matter the value i put as voxel_downsample size, i always get an array of 1 x 3