使用VoxelGrid体素化网格对点云进行下采样

首先，下载数据集table_scene_lms400.pcd 

创建voxel_grid.cpp文件

源码：

 1#include <iostream>
 2#include <pcl/io/pcd_io.h>
 3#include <pcl/point_types.h>
 4#include <pcl/filters/voxel_grid.h>
 5
 6int
 7main ()
 8{
 9  pcl::PCLPointCloud2::Ptr cloud (new pcl::PCLPointCloud2 ());
10  pcl::PCLPointCloud2::Ptr cloud_filtered (new pcl::PCLPointCloud2 ());
11
12  // Fill in the cloud data
13  pcl::PCDReader reader;
14  // Replace the path below with the path where you saved your file
15  reader.read ("table_scene_lms400.pcd", *cloud); // Remember to download the file first!
16
17  std::cerr << "PointCloud before filtering: " << cloud->width * cloud->height 
18       << " data points (" << pcl