没有与参数列表匹配的重载函数pcl::PCDWrite::write

版本：PCL1.8.1+visual studio2015
问题描述：在运行《点云库PCL从入门到精通》第六章VoxelGrid例程时，sensor_msgs和PCDWriter::write报错。
解决：PCL1.8.1不支持sensor_msgs,修改后代码如下

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/visualization/cloud_viewer.h>
int
main(int argc, char** argv)
{
	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("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);
	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("2f.pcd", *cloud_filtered,
		Eigen::Vector4f::Zero(), Eigen::Quaternionf::Identity(), false);
	return (0);
}

注：由于函数pcl::PCDWriter::write第二个参数类型为PCLPointCloud2,因此将点云数据类型和滤波器数据类型设置为PCLPointCloud2