> For the complete documentation index, see [llms.txt](https://pcl.gitbook.io/tutorial/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://pcl.gitbook.io/tutorial/part-1/part01-chapter02/part01-chapter02-downsampling-pcl-python.md).

# 다운샘플링-PCL-Python  (50%)

> Jupyter 버젼은 [\[이곳\]](https://github.com/adioshun/gitBook_Tutorial_PCL/blob/master/Beginner/Part01-Chapter02-Downsampling-PCL-Python.ipynb)에서 확인 가능 합니다.

```python
import pcl

def do_voxel_grid_downssampling(pcl_data,leaf_size):
    '''
    Create a VoxelGrid filter object for a input point cloud
    :param pcl_data: point cloud data subscriber
    :param leaf_size: voxel(or leaf) size
    :return: Voxel grid downsampling on point cloud
    :https://github.com/fouliex/RoboticPerception
    '''
    vox = pcl_data.make_voxel_grid_filter()
    vox.set_leaf_size(leaf_size, leaf_size, leaf_size) # The bigger the leaf size the less information retained
    return  vox.filter()


cloud = pcl.load("./sample/lobby.pcd")
print(cloud)


LEAF_SIZE = 0.01 
cloud = do_voxel_grid_downssampling(cloud,LEAF_SIZE)
print(cloud)
```