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UnorganizedPointCloudVoxelDownsampled Method

Create a new point cloud that is a voxel downsampling of this point cloud

Namespace:  Zivid.NET
Assembly:  ZividCoreNET (in ZividCoreNET.dll) Version: 2.16.0.0
Syntax
Copy
public UnorganizedPointCloud VoxelDownsampled(
	float voxelSize,
	int minPointsPerVoxel
)

Parameters

voxelSize
Type: SystemSingle
The size of the voxel cubes (must be greater than 0.0)
minPointsPerVoxel
Type: SystemInt32
The minimum number of points required to fill a voxel (must be 1 or greater)

Return Value

Type: UnorganizedPointCloud
A new point cloud containing the voxel downsampled data
Remarks
Voxel downsampling subdivides 3D space into a grid of cubic voxels with a given size. If a given voxel contains a number of points at or above the given limit, all those source points are replaced with a single point with the following properties:
  • Position (XYZ) is an SNR-weighted average of the source points' positions, i.e. a high-confidence source point will have a greater influence on the resulting position than a low-confidence one.
  • Color (RGBA) is the average of the source points' colors.
  • Signal-to-noise ratio (SNR) is sqrt(sum(SNR^2)) of the source points' SNR values, i.e. the SNR of a new point will increase with both the number and the confidence of the source points that were used to compute its position.
Using `minPointsPerVoxel > 1` is particularly useful for removing noise and artifacts from unorganized point clouds that are a combination of structured point clouds captured from different angles. This is because a given artifact is most likely only present in one of the captures, and `minPointsPerVoxel` can be used to only fill voxels that both captures "agree" on.
See Also