PCL点云下采样

#include <pcl/io/pcd_io.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/io/ply_io.h>
#include <pcl/point_types.h>
#include <iostream> 
#include <pcl/visualization/cloud_viewer.h>
#include<string>

int
main(int argc, char** argv)
{
    // 创建点云对象
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr filteredCloud(new pcl::PointCloud<pcl::PointXYZRGB>);

    // 读取PLY文件
    if (pcl::io::loadPLYFile<pcl::PointXYZRGB>("E:/PCL/Downsampling/ricardo.ply", *cloud) != 0)
    {
        return -1;
    }

    // 创建滤波对象
    pcl::VoxelGrid<pcl::PointXYZRGB> filter;
    filter.setInputCloud(cloud);
    // 设置体素栅格的大小为 1x1x1cm 0.01f
    filter.setLeafSize(5.0f, 5.0f, 5.0f);
    filter.filter(*filteredCloud);
    char *save_ply_path1 = "E:/PCL/Downsampling/1.ply";
    char* save_ply_path2 = "E:/PCL/Downsam