SphericalVoxelGrid Filter Contribution

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.

The issue names no files, tests, or entry points. Start by reviewing PCL's existing voxel-grid filtering work and determine the API, validation, and project fit for a spherical-coordinate downsampler; done would be an accepted contribution with those details resolved.