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Downsample less planar surface points



pointsOut = downsampleLessPlanar(pointsIn,gridStep) downsamples the less planar surface points pointsIn using a box grid filter with 3-D boxes of the specified size gridStep. The function merges input points within the same box to a single point in the output.

To speed up LOAM registration, downsample the less planar surface points using the downsampleLessPlanar function, then register the LOAM points using the pcregisterloam function.


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Load an organized lidar point cloud into the MATLAB® workspace from a MAT file.

ld = load("drivingLidarPoints.mat");
ptCloud = ld.ptCloud;

Detect LOAM feature points in the point cloud.

points = detectLOAMFeatures(ptCloud);

Downsample the less planar surface points.

gridStep = 0.5;
pointsOut = downsampleLessPlanar(points,gridStep);

Visualize the downsampled LOAM points.


Input Arguments

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Input points, specified as a LOAMPoints object.

Size of the 3-D box for downsampling less planar surface points, specified as a positive scalar.

Output Arguments

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Downsampled points, returned as a LOAMPoints object.

Version History

Introduced in R2022a