【PCL】VoxelGrid和UniformSampling的区别

0. 写在前面

最近集成一些常见点云滤波算法的时候接触filters模块下面的VoxelGrid和UniformSampling算法。乍一看感觉很像，于是去读了头文件中的描述才有所区分，在此进行记录。（以下PCL代码部分均为1.12.1版本）

1. 定义对比

1.1 VoxelGrid头文件定义

/** \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
    */

1.2 UniformSampling头文件定义

/** \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
    */ 

1.3 总结

对比两个降采样方法的定义，特别是最后一句可以发现：VoxelGrid最终选取的体素内的点是计算得到的几何中心，可能并非原始点云，而UniformSampling选取的是距离体素中心最近的原始点云。