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#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
int
main ()
{
pcl::PCLPointCloud2::Ptr cloud (new pcl::PCLPointCloud2 ());
pcl::PCLPointCloud2::Ptr cloud_filtered (new pcl::PCLPointCloud2 ());
// Fill in the cloud data
pcl::PCDReader reader;
// Replace the path below with the path where you saved your file
reader.read ("table_scene_lms400.pcd", *cloud); // Remember to download the file first!
std::cerr << "PointCloud before filtering: " << cloud->width * cloud->height
<< " data points (" << pcl::getFieldsList (*cloud) << ")." << std::endl;
// Create the filtering object
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) << ")." << std::endl;
pcl::PCDWriter writer;
writer.write ("table_scene_lms400_downsampled.pcd", *cloud_filtered,
Eigen::Vector4f::Zero (), Eigen::Quaternionf::Identity (), false);
return (0);
}
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