VoxelCenterNearestNeighbor 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 coordinates of the voxel center are 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.


This is similar to the existing filters.voxelgrid. However, in the case of the VoxelGrid, the centroid of the points falling within the voxel 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.

Default Embedded Stage

This stage is enabled by default



See also

filters.voxelcentroidnearestneighbor offers a similar solution, using as the query point the centroid of all points falling within the voxel as opposed to the voxel center coordinates.


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