Reason for filtering your data

• Restricting range (PassThrough)

  • Filter out points outside a specified range in one dimension.

  

• Downsampling (VoxelGrid)

  Voxelize the cloud to a 3D grid. Each occupied voxel is approximated by the centroid of the points inside of it.

  

• Outlier removal (StatisticalOutlierRemoval, Radius OutlierRemoval) Filter points based on their local point densities. Remove points that are sparse relative to the mean point density of the whole cloud.

  

• Selecting indices