pcl：使用VoxelGrid过滤器下采样点云

我们将出现的VoxelGrid类在输入点云数据上创建一个3D体素网格。

实现代码如下（voxel_grid.cpp）：
有需要table_scene_lms400.pcd 数据可以到我博客关注并下载。

#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 ());

  // Fill in the cloud data
  pcl::PCDReader reader;
  // Replace the path below with the path where you saved your file
  reader.read ("table_scene_lms400.pcd", *cloud); // Remember to download the file first!

  std::cerr << "PointCloud before filtering: " << cloud->width * cloud->height 
       << " data points (" << pcl::getFieldsList (*cloud) << ")." << std::endl;

  // Create the filtering object
  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) << ")." << std::endl;

  pcl::PCDWriter writer;
  writer.write ("table_scene_lms400_downsampled.pcd", *cloud_filtered, 
         Eigen::Vector4f::Zero (), Eigen::Quaternionf::Identity (), false);

  return (0);
}

CMakeLists.txt文件：
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

project(voxel_grid)

find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (voxel_grid voxel_grid.cpp)
target_link_libraries (voxel_grid ${PCL_LIBRARIES})

执行流程，放在同一文件路径下(数据路径放build下就无需更改)，进行如下操作：
mkdir build
cd build
cmake …
make
./voxel_grid