运行环境:ubuntu16.04+ros-kinetic(ros自带pcl1.7)
首先新建voxelfilter.cpp (源文件),代码如下:
#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)
{
pcl::PCLPointCloud2::Ptr
cloud(new pcl::PCLPointCloud2());
pcl::PCLPointCloud2::Ptr
cloud_filtered(new pcl::PCLPointCloud2());
// 填入点云数据
pcl::PCDReader re