Downsample Large PCD is a tool for downsampling large point cloud using pcl::VoxelGrid. It slices the point cloud into smaller parts appropriately (to ensure proper filtering), downsamples them, and merges downsampled slices into one point cloud.

The tool has been created to downsample large point clouds with any leaf size. pcl::VoxelGrid has a limitation for the number of voxels which refuses to downsample large point clouds for too small leaf size.

1. Install required PCL libraries:

   apt install libpcl-dev

2. Build the project:

   mkdir build
   cd build
   cmake ..
   make -j

./DownsampleLargePCD -in input.pcd -out output.pcd -leaf x,y,z -binary 1

where:

• -in input.pcd - path to the input pcd
• -out output.pcd - path for the output pcd
• -leaf x,y,z - the VoxelGrid leaf size (e.g. -leaf 0.2,0.2,0.2)
• -binary 1 - (optional) 1 for binary output, 0 (default) for ASCII