PCL使用VoxelGrid进行点云采样

#include<iostream>
#include<pcl/point_types.h>
#include<pcl/filters/voxel_grid.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>
int main(int argc,char** argv)
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr my_cloud(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PointCloud<pcl::PointXYZ>::Ptr my_cloud_filter(new pcl::PointCloud<pcl::PointXYZ>);
	//sensor_msgs::PointCloud2::Ptr cloud(new sensor_msgs::PointCloud2);
	//sensor_msgs::PointCloud2::Ptr my_cloud_filter(new sensor_msgs::PointCloud2);
	pcl::PCDReader reader;
	reader.read("E:\\vs_code\\my_cylinder.pcd",*my_cloud);
	//pcl::VoxelGrid<sensor_msgs::PointCloud2> my_voxel_fliter;
	pcl::VoxelGrid<pcl::PointXYZ> my_voxel_fliter;
	my_voxel_fliter.setInputCloud(my_cloud);
	my_voxel_fliter.setLeafSize(1.0f,1.0f,1.0f);
	my_voxel_fliter.filter(*my_cloud_filter);
	pcl::visualization::PCLVisualizer my_viewer1;
	pcl::visualization::PCLVisualizer my_viewer2;
	my_viewer1.addPointCloud(my_cloud);
	my_viewer2.addPointCloud(my_cloud_filter);
	while(!my_viewer1.wasStopped())
	{
		my_viewer1.spinOnce(100);
		my_viewer1.spinOnce(100);
	}
	pcl::PCDWriter writer;
	writer.write("my_filter.pcd",*my_cloud_filter);
	return 0;
}

和上一篇的直通滤波差不多，都是读点云，设置参数，进行计算，输出结果。
这里为了能够显示点云，对PCL书里的代码进行了修改

	pcl::VoxelGrid<pcl::PointXYZ> my_voxel_fliter;
	my_voxel_fliter.setInputCloud(my_cloud);
	my_voxel_fliter.setLeafSize(1.0f,1.0f,1.0f);
	my_voxel_fliter.filter(*my_cloud_filter);

这里设置的三维栅格参数比较重要，过小会导致降采样效果不明显，过大又会导致特征的明显缺失
最后的结果如下