Research on Crop 3D Model Reconstruction Based on RGB-D Binocular Vision

Table 2

VoxelGrid-based point cloud simplification algorithm.

---

Algorithm 2 VoxelGrid-based point cloud simplification algorithm

---

Input: Original point cloud (P)

Output: Point cloud of VoxelGrid simplification (V)

1. Set the VoxelGrid resolution (voxel size)

2. Create the filtering object: sor

3. Start filtering: sor.filter

  Divide P into point cloud blocks (B) by VoxelGrid filter

  Calculate the barycenter of B

---