Subsampling Filter
The subsampling filter reduces the density of the point cloud by selecting a representative disparity value within each tile. This is useful for reducing bandwidth and computational load while preserving the overall structure of the scene.
Parameters
The subsampling filter is enabled by setting publish_point_cloud_type to 2 (3x7) or 3 (5x15) in master_config.ini:
| Value | Description |
|---|---|
| 2 | Publish the point cloud subsampled on 3x7 tiles |
| 3 | Publish the point cloud subsampled on 5x15 tiles |
Tile Sizes
The tile size determines how many pixels are grouped together for subsampling. A larger tile produces a sparser point cloud with lower bandwidth, while a smaller tile retains more detail.
| Tile Size | Description |
|---|---|
| 3x7 | 3 rows x 7 columns. Higher density output. |
| 5x15 | 5 rows x 15 columns. Lower density output. |
The subsampling algorithm selects the median disparity value within each tile as the representative point.
Nodar Viewer
The subsampling filter can also be toggled and configured from the Nodar Viewer UI under the Subsampling Filter section. The available tile sizes are 5x15, 3x7, and None (no subsampling).