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PCL filter order

asked 2019-12-08 20:41:18 -0500

mdeegan gravatar image

I'm using two filters on my pointcloud: CropBox to restrict points to a region and VoxelGrid to downsample the point cloud. Is it faster to run these in some particular order?

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answered 2019-12-09 03:47:18 -0500

updated 2019-12-09 03:47:50 -0500

In almost all cases, it will be faster to run CropBox first, because it is very fast and can potentially eliminate a lot of points. How large the advantage is depends on your data: If you have a huge point cloud and a small target volume, so that CropBox removes 90% of points, the advantage will be greater than if CropBox only removes 10% of points.

That being said, VoxelGrid is quite fast too, so I suspect in most cases it wouldn't hurt too much to run VoxelGrid first (but there should almost never be an advantage to this).

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Asked: 2019-12-08 20:41:18 -0500

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Last updated: Dec 09 '19