请帮我写一份pcl，读取"D:\wodedm\py_pcd\volex_grid\copy_of_fragment_vxsj.pcd"pcd文件，将点云文件进行边界提取，可视化边界提取结果，然后将重边界并储存到新的文件里，注意请使用支持pcl12.0的代码

好的，这里是代码：

#include <iostream>
#include <pcl/point_types.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>

int main(int argc, char **argv) {
    // 读取点云数据
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::PCDReader reader;
    reader.read("D:\\wodedm\\py_pcd\\volex_grid\\copy_of_fragment_vxsj.pcd", *cloud);

    // 执行体素滤波
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_downsampled(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::VoxelGrid<pcl::PointXYZ> voxel_grid_filter;
    voxel_grid_filter.setInputCloud(cloud);
    voxel_grid_filter.setLeafSize(0.01f, 0.01f, 0.01f);
    voxel_grid_filter.filter(*cloud_downsampled);

    // 执行边界提取
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_boundary(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::ExtractIndices<pcl::PointXYZ> extract_boundary;
    pcl::PointIndices::Ptr boundary_indices(new pcl::PointIndices);
    extract_boundary.setInputCloud(cloud_downsampled);
    extract_boundary.setNegative(false);
    extract_boundary.setRadiusSearch(0.05);
    extract_boundary.filter(*boundary_indices);
    extract_boundary.setIndices(boundary_indices);
    extract_boundary.filter(*cloud_boundary);

    // 可视化边界提取结果
    pcl::visualization::PCLVisualizer viewer("Boundary Extraction");
    viewer.addPointCloud<pcl::PointXYZ>(cloud_downsampled, "cloud");
    viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
    viewer.addPointCloud<pcl::PointXYZ>(cloud_boundary, "boundary");
    viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_COLOR, 1, 0, 0, "boundary");
    viewer.setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "boundary");
    viewer.spin();

    // 重边界合并
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_boundary_merged(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::VoxelGrid<pcl::PointXYZ> voxel_grid_filter2;
    voxel_grid_filter2.setInputCloud(cloud_boundary);
    voxel_grid_filter2.setLeafSize(0.01f, 0.01f, 0.01f);
    voxel_grid_filter2.filter(*cloud_boundary_merged);

    // 储存重边界点云数据
    pcl::PCDWriter writer;
    writer.writeBinary("boundary_merged.pcd", *cloud_boundary_merged);

    return 0;
}

注：代码中使用了体素滤波来减少点云数据量，加速边界提取和重边界合并的过程。如果需要更精细的结果，可以将体素大小调小或者直接注释掉体素滤波部分。