PCL：滤波- VoxelGrid滤波器

#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)
{
	//sensor_msgs::PointCloud2::Ptr cloud (new sensor_msgs::PointCloud2 ());
	//sensor_msgs::PointCloud2::Ptr cloud_filtered (new sensor_msgs::PointCloud2 ());
	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 ("..\\source\\table_scene_lms400.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);//设置滤波时创建的体素体积为 1cm*1cm*1cm的立方体
	sor.filter (*cloud_filtered);
	
	std::cerr << "PointCloud after filtering: " << cloud_filtered->width * cloud_filtered->height 
	<< " data points (" << pcl::getFieldsList (*cloud_filtered) << ").";
	
	// 保存结果
	pcl::PCDWriter writer;
	writer.write ("2f.pcd", *cloud_filtered, Eigen::Vector4f::Zero (), Eigen::Quaternionf::Identity (), false);
 
    return (0);
}