filters.voxelcentroidnearestneighbor.rst

filters.voxelcentroidnearestneighbor

VoxelCentroidNearestNeighbor is a voxel-based sampling filter. The input point cloud is divided into 3D voxels at the given cell size. For each populated voxel, the centroid of the points within that voxel is computed. This centroid is used as the query point in a 3D nearest neighbor search. The nearest neighbor is then added to the output point cloud, along with any existing dimensions.

Note

This is similar to the existing :ref:`filters.voxelgrid`. However, in the case of the VoxelGrid, the centroid itself is added to the output point cloud. The drawback with this approach is that all dimensional data is lost, and the sampled cloud now consists of only XYZ coordinates.

Example

{
  "pipeline":[
    "input.las",
    {
      "type":"filters.voxelcentroidnearestneighbor",
      "cell":10.0
    },
    "output.las"
  ]
}

.. seealso::

    :ref:`filters.voxelcenternearestneighbor` offers a similar solution, using
    the voxel center as opposed to the voxel centroid for the query point.

Options

cell

Cell size in the X, Y, and Z dimension. [Default: 1.0]