PCD Downsampling Script (Min Algorithm)

pcd_downsample_min.bash

#!/bin/bash

set -e

RESOLUTION=$1

for file in ./original/*.pcd; do
  filename=$(basename -- "${file}")
  extension="${filename##*.}"
  filename="${filename%.*}"
  new_filename="${filename}_min_${RESOLUTION}.pcd"
  pcl_grid_min ${file} min/${new_filename} -resolution ${RESOLUTION},${RESOLUTION},${RESOLUTION}
  echo ""
done

pcl_concatenate_points_pcd min/*_min_${RESOLUTION}.pcd
echo ""
mv output.pcd output/AutonomouStuff_Mandli_min_${RESOLUTION}_bin.pcd
pcl_convert_pcd_ascii_binary output/AutonomouStuff_Mandli_min_${RESOLUTION}_bin.pcd output/AutonomouStuff_Mandli_min_${RESOLUTION}_ascii.pcd 0
echo ""
echo "Done!"