PCL中UniformSampling和VoxelGrid的区别

均匀下采样(UniformSampling)

代码中的描述如下：

  /** \brief @b UniformSampling assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.
    *
    * The @b UniformSampling class creates a *3D voxel grid* (think about a voxel
    * grid as a set of tiny 3D boxes in space) over the input point cloud data.
    * Then, in each *voxel* (i.e., 3D box), all the points present will be
    * approximated (i.e., *downsampled*) with the closest point to the center of the voxel.
    *
    * \author Radu Bogdan Rusu
    * \ingroup filters
    */

先划分体素，然后在每个体素中选取一个离体素的几何中心最近的点。

体素下采样(VoxelGrid)

代码中的描述如下：

  /** \brief VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.
    *
    * The VoxelGrid class creates a *3D voxel grid* (think about a voxel
    * grid as a set of tiny 3D boxes in space) over the input point cloud data.
    * Then, in each *voxel* (i.e., 3D box), all the points present will be
    * approximated (i.e., *downsampled*) with their centroid. This approach is
    * a bit slower than approximating them with the center of the voxel, but it
    * represents the underlying surface more accurately.
    *
    * \author Radu B. Rusu, Bastian Steder
    * \ingroup filters
    */

先划分体素，然后计算每个体素的质心坐标，每个体素仅保留质心点。
若downsample_all_data_ == false则直接计算每个体素中所有点云的XYZ均值，得到的点云仅有XYZ变量。
若downsample_all_data_ == true则使用pcl::CentroidPoint<PointT>实现每个体素中所有点云的XYZRGB的均值计算。
pcl::CentroidPoint<PointT>中的pcl::detail::Accumulators<PointT>::type无法识别除XYZRGB以外的自定义类型。也因为如此，PCL中实现的体素下采样无法保留除颜色以外的其他点云特征。