#include <iostream>

#include <pcl/io/pcd_io.h>

#include <pcl/filters/voxel_grid.h>

​

int main()

{

    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);

    pcl::io::loadPCDFile("path/to/pcd/file.pcd", *cloud);

​

    pcl::VoxelGrid<pcl::PointXYZ> voxel_grid;

    voxel_grid.setInputCloud(cloud);

    voxel_grid.setLeafSize(0.01, 0.01, 0.01);

    voxel_grid.filter(*cloud);

​

    std::cout << "Filtered cloud has " << cloud->size() << " points." << std::endl;

​

    return 0;

}