Coordinates of the point cloud are shifted after voxelizing with PDAL

Question

I used PDAL commands to voxelize the point cloud with folloiwing code. When I opened the results in Cloud Compare it didn't overlap with original point cloud. Is there any potential reason?

[
    "input.las",
    {
        "type":"filters.voxeldownsize",
        "cell":0.02,
        "mode":"center"
    },
    "output.las"
]

Answer 1

filters.voxeldownsize takes the points in a particular voxel of cell size cell and makes a point in the CENTER of the voxel. They are not going to overlap the original point cloud.

I think what you are hoping to have is filters.voxelcentroidnearestneighbor