VoxelGrid滤波器对点云进行下采样

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
int
main(int argc, char** argv)
{

	pcl::PCLPointCloud2::Ptr cloud(new pcl::PCLPointCloud2());
	pcl::PCLPointCloud2::Ptr cloud_filtered(new pcl::PCLPointCloud2());

	// 填入点云数据
	pcl::PCDReader reader;
	// 把路径改为自己存放文件的路径
	reader.read("d://rabbit.pcd", *cloud); // 记住要事先下载这个数据集！
	std::cerr << "PointCloud before filtering: " << cloud->width * cloud->height
		<< " data points (" << pcl::getFieldsList(*cloud) << ").";
	// 创建滤波器对象
	pcl::VoxelGrid<	pcl::PCLPointCloud2> sor;
	sor.setInputCloud(cloud);
	sor.setLeafSize(0.01f, 0.01f, 0.01f);
	sor.filter(*cloud_filtered);
	std::cerr << "PointCloud after filtering: " << cloud_filtered->width * cloud_filtered->height
		<< " data points (" << pcl::getFieldsList(*cloud_filtered) << ").";
	pcl::PCDWriter writer;
	writer.write("2f.pcd", *cloud_filtered,
		Eigen::Vector4f::Zero(), Eigen::Quaternionf::Identity(), false);
	return (0);
}