Downsample

Voxel grid filter

Reference : http://pointclouds.org/documentation/tutorials/voxel_grid.php#voxelgrid

typedef pcl::PointXYZ PointT;
pcl::VoxelGrid<PointT> vg;
pcl::PointCloud<PointT>::Ptr cloud_filtered (new pcl::PointCloud<PointT>);

vg.setInputCloud (cloud);
vg.setLeafSize (0.01f, 0.01f, 0.01f); //0.01m
vg.filter (*cloud_filtered);
std::cout << "PointCloud after filtering has: " << cloud_filtered->points.size ()  << " data points." << std::endl; //*