Table of contents
1. Non-uniform downsampling
ptCloudOut = pcdownsample(ptCloudIn,'nonuniformGridSample',maxNumPoints)
Returns a downsampled point cloud with a non-uniform voxel filter. The method randomly selects a point from each box. If no normal is provided in the input point cloud, this method will automatically populate the Normal property in the ptCloudOut output.
maxNumPoint: The maximum number of points in a unit voxel, at least 6.
2. Code implementation