SphericalVoxelGrid Filter Contribution

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SphericalVoxelGrid Filter Contribution

sddavis14
Hi,

I've been working on a project involving a LiDAR which has significant noise
imposed on its returns. The angles are quite accurate, but the lengths of
the returns are not. This noise does not lend itself well to a standard
voxel grid because so much of the angular resolution of the point cloud must
be sacrificed to accurately contain all of the points belonging to a given
surface. I have implemented a new filter which downsamples the cloud using
what I am calling a SphericalVoxelGrid. It takes a horizontal angular,
a vertical angular, and a radial resolution as parameters and downsamples
the cloud. Essentially, the filter is a voxel grid where the leaf size is
specified in spherical coordinates instead of cartesian. This filter has
delivered good results in my application because the radial resolution
parameter can be set very low (long voxels) while maintaining a reasonable
angular resolution.

Would this feature be a valuable contribution to PCL? If so, I will submit
this feature as a pull request in the near future.

Thanks.



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Re: SphericalVoxelGrid Filter Contribution

Sérgio Agostinho
Open an issue on GitHub with this description and let's mode the discussion there.

Cheers

2017-10-29 19:55 GMT+00:00 sddavis14 <[hidden email]>:
Hi,

I've been working on a project involving a LiDAR which has significant noise
imposed on its returns. The angles are quite accurate, but the lengths of
the returns are not. This noise does not lend itself well to a standard
voxel grid because so much of the angular resolution of the point cloud must
be sacrificed to accurately contain all of the points belonging to a given
surface. I have implemented a new filter which downsamples the cloud using
what I am calling a SphericalVoxelGrid. It takes a horizontal angular,
a vertical angular, and a radial resolution as parameters and downsamples
the cloud. Essentially, the filter is a voxel grid where the leaf size is
specified in spherical coordinates instead of cartesian. This filter has
delivered good results in my application because the radial resolution
parameter can be set very low (long voxels) while maintaining a reasonable
angular resolution.

Would this feature be a valuable contribution to PCL? If so, I will submit
this feature as a pull request in the near future.

Thanks.



--
Sent from: http://www.pcl-users.org/
_______________________________________________
[hidden email] / http://pointclouds.org
http://pointclouds.org/mailman/listinfo/pcl-users


_______________________________________________
[hidden email] / http://pointclouds.org
http://pointclouds.org/mailman/listinfo/pcl-users