rtabmap/api/latest/group__PointCloudDownSampling.html

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<div class="header">
  <div class="summary">
<a href="#func-members">Functions</a>  </div>
  <div class="headertitle"><div class="title">Point Cloud Downsampling</div></div>
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<div class="contents">

<p>Downsamples a point cloud or <a class="el" href="classrtabmap_1_1LaserScan.html" title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a> by keeping only every N-th point.  
<a href="#details">More...</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="func-members" name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:ga83a15e5eaeee8707bfa5563c71154579" id="r_ga83a15e5eaeee8707bfa5563c71154579"><td class="memItemLeft" align="right" valign="top"><a id="ga83a15e5eaeee8707bfa5563c71154579" name="ga83a15e5eaeee8707bfa5563c71154579"></a>
<a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::downsample</b> (const <a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp;cloud, int step)</td></tr>
<tr class="memdesc:ga83a15e5eaeee8707bfa5563c71154579"><td class="mdescLeft">&#160;</td><td class="mdescRight">Downsamples a <a class="el" href="classrtabmap_1_1LaserScan.html" title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a>. <br /></td></tr>
<tr class="separator:ga83a15e5eaeee8707bfa5563c71154579"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga2f9dd8a7c572ce78b76aec448b17a863" id="r_ga2f9dd8a7c572ce78b76aec448b17a863"><td class="memItemLeft" align="right" valign="top"><a id="ga2f9dd8a7c572ce78b76aec448b17a863" name="ga2f9dd8a7c572ce78b76aec448b17a863"></a>
pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::downsample</b> (const pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr &amp;cloud, int step)</td></tr>
<tr class="memdesc:ga2f9dd8a7c572ce78b76aec448b17a863"><td class="mdescLeft">&#160;</td><td class="mdescRight">Downsamples a point cloud of type <code>pcl::PointXYZ</code>. <br /></td></tr>
<tr class="separator:ga2f9dd8a7c572ce78b76aec448b17a863"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga7a57facb7148254d43af7577a3716d15" id="r_ga7a57facb7148254d43af7577a3716d15"><td class="memItemLeft" align="right" valign="top"><a id="ga7a57facb7148254d43af7577a3716d15" name="ga7a57facb7148254d43af7577a3716d15"></a>
pcl::PointCloud&lt; pcl::PointXYZRGB &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::downsample</b> (const pcl::PointCloud&lt; pcl::PointXYZRGB &gt;::Ptr &amp;cloud, int step)</td></tr>
<tr class="memdesc:ga7a57facb7148254d43af7577a3716d15"><td class="mdescLeft">&#160;</td><td class="mdescRight">Downsamples a point cloud of type <code>pcl::PointXYZRGB</code>. <br /></td></tr>
<tr class="separator:ga7a57facb7148254d43af7577a3716d15"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:gab4b196b83a0634b8e58c145ed54d510d" id="r_gab4b196b83a0634b8e58c145ed54d510d"><td class="memItemLeft" align="right" valign="top"><a id="gab4b196b83a0634b8e58c145ed54d510d" name="gab4b196b83a0634b8e58c145ed54d510d"></a>
pcl::PointCloud&lt; pcl::PointXYZI &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::downsample</b> (const pcl::PointCloud&lt; pcl::PointXYZI &gt;::Ptr &amp;cloud, int step)</td></tr>
<tr class="memdesc:gab4b196b83a0634b8e58c145ed54d510d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Downsamples a point cloud of type <code>pcl::PointXYZI</code>. <br /></td></tr>
<tr class="separator:gab4b196b83a0634b8e58c145ed54d510d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga83657d48dce8b727088941773f4d8a73" id="r_ga83657d48dce8b727088941773f4d8a73"><td class="memItemLeft" align="right" valign="top"><a id="ga83657d48dce8b727088941773f4d8a73" name="ga83657d48dce8b727088941773f4d8a73"></a>
pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::downsample</b> (const pcl::PointCloud&lt; pcl::PointNormal &gt;::Ptr &amp;cloud, int step)</td></tr>
<tr class="memdesc:ga83657d48dce8b727088941773f4d8a73"><td class="mdescLeft">&#160;</td><td class="mdescRight">Downsamples a point cloud of type <code>pcl::PointNormal</code>. <br /></td></tr>
<tr class="separator:ga83657d48dce8b727088941773f4d8a73"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga8c3ca654fb0cc07084fdac8077714b3a" id="r_ga8c3ca654fb0cc07084fdac8077714b3a"><td class="memItemLeft" align="right" valign="top"><a id="ga8c3ca654fb0cc07084fdac8077714b3a" name="ga8c3ca654fb0cc07084fdac8077714b3a"></a>
pcl::PointCloud&lt; pcl::PointXYZRGBNormal &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::downsample</b> (const pcl::PointCloud&lt; pcl::PointXYZRGBNormal &gt;::Ptr &amp;cloud, int step)</td></tr>
<tr class="memdesc:ga8c3ca654fb0cc07084fdac8077714b3a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Downsamples a point cloud of type <code>pcl::PointXYZRGBNormal</code>. <br /></td></tr>
<tr class="separator:ga8c3ca654fb0cc07084fdac8077714b3a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ga32d575439b2f5082c3946bc964c14b75" id="r_ga32d575439b2f5082c3946bc964c14b75"><td class="memItemLeft" align="right" valign="top"><a id="ga32d575439b2f5082c3946bc964c14b75" name="ga32d575439b2f5082c3946bc964c14b75"></a>
pcl::PointCloud&lt; pcl::PointXYZINormal &gt;::Ptr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>rtabmap::util3d::downsample</b> (const pcl::PointCloud&lt; pcl::PointXYZINormal &gt;::Ptr &amp;cloud, int step)</td></tr>
<tr class="memdesc:ga32d575439b2f5082c3946bc964c14b75"><td class="mdescLeft">&#160;</td><td class="mdescRight">Downsamples a point cloud of type <code>pcl::PointXYZINormal</code>. <br /></td></tr>
<tr class="separator:ga32d575439b2f5082c3946bc964c14b75"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<p>Downsamples a point cloud or <a class="el" href="classrtabmap_1_1LaserScan.html" title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a> by keeping only every N-th point. </p>
<p>This function downsamples a point cloud based on a specified step size. The method adapts based on whether the cloud is organized (2D) or unorganized (1D), and whether it's structured like a depth image or LiDAR scan.</p>
<ul>
<li>For <b>unorganized point clouds</b>: Every <code>step</code>-th point is retained linearly.</li>
<li>For <b>organized point clouds</b> with LiDAR-like layout (e.g., 2048x64): Downsampling is performed along the "long" dimension, preserving the ring structure.</li>
<li>For <b>depth-image-like organized clouds</b> (e.g., 640x480): Downsampling is performed in both row and column directions, similar to image decimation. Step size must divide both width and height exactly.</li>
</ul>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">cloud</td><td>The input point cloud to downsample. </td></tr>
    <tr><td class="paramname">step</td><td>The decimation step. Must be greater than 0. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>A new point cloud containing only the sampled points.</dd></dl>
<dl class="section note"><dt>Note</dt><dd>If <code>step &lt;= 1</code> or the cloud has fewer points than <code>step</code>, the function returns a copy of the input cloud. </dd></dl>
<dl class="exception"><dt>Exceptions</dt><dd>
  <table class="exception">
    <tr><td class="paramname">Assertion</td><td>failure if <code>step &lt;= 0</code> or, in the case of depth-image-style clouds, if the width and height are not divisible by <code>step</code>. </td></tr>
  </table>
  </dd>
</dl>
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