clear all;

close all;

clc;

pc = pcread('rabbit.pcd');

pcshow(pc);

pc_point = pc.Location;

xlimit = pc.XLimits;

ylimit = pc.YLimits;

zlimit = pc.ZLimits;

cellsize = 0.005;   %定义网格大小

%设置网格数量

W = floor((xlimit() - xlimit())/cellsize)+;

H = floor((ylimit() - ylimit())/cellsize)+;

D = floor((zlimit() - zlimit())/cellsize)+;

%向网格里填数

voxel = cell(W,H,D);

for i =:length(pc_point)

    I = floor((pc_point(i,)-xlimit())/cellsize)+;

    J = floor((pc_point(i,)-ylimit())/cellsize)+;

    K = floor((pc_point(i,)-zlimit())/cellsize)+;

    voxel{I,J,K} = [voxel{I,J,K};pc_point(i,:)];

end

%以网格中第一个点对原点云进行下采样

pointre =[];

for i=:W

    for j=:H

        for k=:D

            if isempty(voxel{i,j,k})==

                pointre=[pointre;voxel{i,j,k}(,:)];

            end

        end

    end

end

pcre = pointCloud(pointre);

figure;

pcshow(pcre);