Function cwipc_downsample

• Defined in File api.h

Function Documentation

cwipc_pointcloud *cwipc_downsample(cwipc_pointcloud *pc, float voxelsize)

Downsample a cwipc pointcloud.

A grid of voxelsize*voxelsize*voxelsize is overlaid over the pointcloud. All points within each cube are combined into the new point, with coordinates and colors of that new point being a smart average of the original points in the cell. The tile of the new point is the OR of the tiles of the contributing points.

Parameters:

• pc – The source pointcloud

• voxelsize – Wanted resolution for returned pointcloud.

Returns:

a new pointcloud