【PCL】点云栅格化2

//
// Created by ethan on 18-6-6.
//
#include <iostream>
#include <ros/ros.h>
// PCL specific includes
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/console/print.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/visualization/cloud_viewer.h>
#include <cmath>
#include <pcl/filters/statistical_outlier_removal.h>
#define _USE_MATH_DEFINES
class Grid
{
public:
    bool  road;
    float h_mean;
    float h_square;
    pcl::PointCloud<pcl::PointXYZ>::Ptr grid_cloud {new pcl::PointCloud<pcl::PointXYZ>};
};
inline float abs(float &a)
{
    if (a<0)
    {a=-a;}
    return a;
}
int
main(int argc,char** argv)
{

    ros::init(argc,