1.点云最小二乘上采样

#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/surface/mls.h>
#include<pcl/search/kdtree.h>
int
main()
{
	// Load input file into a PointCloud<T> with an appropriate type
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
	// Load bun0.pcd -- should be available with the PCL archive in test 
	pcl::io::loadPCDFile("bun0.pcd", *cloud);
	
		// Create a KD-Tree
	pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>);

		// Output has the PointNormal type in order to store the normals calculated by MLS
	pcl::PointCloud<pcl::PointNormal> mls_points;
	
	// Init object (second point type is for the normals, even if unused)
	pcl::MovingLeastSquares<pcl::PointXYZ, pcl::PointNormal> mls;

	mls.setComputeNormals(true);

		// Set parameters
	mls.se