PCD Downsampling Script (Voxel Grid Algorithm)

pcd_downsample_vg.bash

#!/bin/bash

set -e

LEAF_SIZE=$1

for file in ./original/*.pcd; do
  filename=$(basename -- "${file}")
  extension="${filename##*.}"
  filename="${filename%.*}"
  new_filename="${filename}_vg_${LEAF_SIZE}.pcd"
  pcl_voxel_grid ${file} voxel_grid/${new_filename} -leaf ${LEAF_SIZE},${LEAF_SIZE},${LEAF_SIZE}
  echo ""
done

pcl_concatenate_points_pcd voxel_grid/*_vg_${LEAF_SIZE}.pcd
echo ""
mv output.pcd output/AutonomouStuff_Mandli_vg_${LEAF_SIZE}_bin.pcd
pcl_convert_pcd_ascii_binary output/AutonomouStuff_Mandli_vg_${LEAF_SIZE}_bin.pcd output/AutonomouStuff_Mandli_vg_${LEAF_SIZE}_ascii.pcd 0
echo ""
echo "Done!"