Downsampling colored point cloud

[Seekerzero]

Hi Koide,

Thanks for your fantastic work!

I was trying to use the downsampling module on the pcl::Point<XYZRGBA> point cloud and found that the colors are gone. I looked into the code and found that it is because the bits encoding only takes the XYZ coordinates.

Do you have any plans to adapt this feature? As it may scale down the maximum range of the target cloud.

Thanks again!

[koide3]

Thanks for your request. The current implementation of downsampling considers only point coordinates and ignores other attributes. I think we can add a slight modification to support point colors. Maybe I'll do it in the next week.

[themightyoarfish]

@koide3 can you outline the necessary changes to support this? I am interested in this as well for keeping intensity information around. Maybe someone else can work on this.