用最小二乘法对点云进行平滑处理

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/surface/mls.h>

int main() {
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::io::loadPCDFile("bun000.pcd",*cloud);
    pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
    pcl::PointCloud<pcl::PointNormal> normals;

    //实例化最小二乘对象mls
    pcl::MovingLeastSquares<pcl::PointXYZ,pcl::PointNormal> mls;
    mls.setComputeNormals(true);
    //设定参数
    mls.setInputCloud(cloud);
    mls.setPolynomialFit(true);
    mls.setSearchMethod(tree);
    mls.setSearchRadius(0.03);
    //重建计算
    mls.process(normals);
    pcl::io::savePCDFile("bun000.mls.pcd",normals);
    return 0;
}