3D【20】PCL MLS点云平滑

//#include <pcl/surface/mls.h>
    pcl::search::KdTree<pcl::PointXYZRGBA>::Ptr search(new pcl::search::KdTree<pcl::PointXYZRGBA>);
    pcl::MovingLeastSquares<pcl::PointXYZRGBA, pcl::PointXYZRGBA> mls;
    pcl::PointCloud<pcl::PointXYZRGBA>::Ptr result (new pcl::PointCloud<pcl::PointXYZRGBA>);
    search->setInputCloud(cloud);

    mls.setInputCloud(cloud);
    mls.setPolynomialFit(true);
    mls.setPolynomialOrder(5);//一般2-5
    mls.setSearchMethod(search);
    mls.setSearchRadius(0.015);//越大的话平滑力度越大
    mls.process(*result);