PCL filter order
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?
ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
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?
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).
Asked: 2019-12-08 20:41:18 -0500
Seen: 313 times
Last updated: Dec 09 '19
Way to visually debug output of pcl::CropBox<PointT> [closed]
AttributeError's when running Python scripts
ROS Melodic OpenCV xfeatures2d
ROS TCP Connector C# Lost Publishers & Freezing
Controlling a quadcopter in Gazebo
error getMD5Sum in customized message type
URDF model using the a variable parameter