PointCloudLibrary / PointCloudLibrary/pcl
The results are different when I use VoxelGrid filter to downsample two same clouds
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- C++
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Description
I have two same clouds, cloud1.ply and cloud2.ply, both have 35947 points. cloud2.ply is obtained from cloud1.ply by only translation, no rotation. When I use VoxelGrid filter with the same parameter in PCL 1.11.1, the resuls are different, one has16274 points, the other has 16224. I check the two clouds, the index and the pose are totally same, the only difference is the coordinate. I don't know why.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
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Research direction
Start by reproducing the VoxelGrid results with cloud1.ply and cloud2.ply using PCL 1.11.1 and the reported identical parameters. Compare the translated coordinates and resulting voxel assignments; done means identifying why the two point counts differ or obtaining a minimal reproducible case that confirms the behavior.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- computer-vision
- Issue type
- Bug
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 35/100