#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)<<").";// 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)<<").";
pcl::PCDWriter writer;
writer.write ("table_scene_lms400_downsampled.pcd",*cloud_filtered,
Eigen::Vector4f::Zero (), Eigen::Quaternionf::Identity (), false);return(0);}