如何使用移动最小二乘法mls对点云进行修补

hffgodspeed

用mls做点云修补有一定的效果，尝试了inline void setUpsamplingMethod(UpsamplingMethodmethod)中的VOXEL_GRID_DILATION方法，但是效果不明显，请问参数要怎么调？

1. #include <pcl/point_types.h>
   
2. #include <pcl/io/pcd_io.h>
   
3. #include <pcl/kdtree/kdtree_flann.h>
   
4. #include <pcl/surface/mls.h>
   
5. 
   
6. int
   
7.         main (int argc, char** argv)
   
8. {
   
9.         // Load input file into a PointCloud<T> with an appropriate type
   
10.         pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB> ());
    
11.         // Load bun0.pcd -- should be available with the PCL archive in test
    
12.         pcl::io::loadPCDFile ("scene13.pcd", *cloud);
    
13. 
    
14.         // Create a KD-Tree
    
15.         pcl::search::KdTree<pcl::PointXYZRGB>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZRGB>);
    
16. 
    
17.         // Output has the PointNormal type in order to store the normals calculated by MLS
    
18.         pcl::PointCloud<pcl::PointNormal> mls_points;
    
19. 
    
20.         // Init object (second point type is for the normals, even if unused)
    
21.         pcl::MovingLeastSquares<pcl::PointXYZRGB, pcl::PointNormal> mls;
    
22. 
    
23.         mls.setComputeNormals (true);
    
24. 
    
25.         // Set parameters
    
26.         mls.setInputCloud (cloud);
    
27.         mls.setPolynomialFit (true);
    
28.         mls.setSearchMethod (tree);
    
29.         mls.setSearchRadius (0.01);
    
30. 
    
31.         mls.setUpsamplingMethod(mls.VOXEL_GRID_DILATION);
    
32.         mls.setDilationVoxelSize(0.01);
    
33.         mls.setDilationIterations(0.02);
    
34.         mls.process (mls_points);
    
35.        
    
36.        
    
37.         // Save output
    
38.         pcl::io::savePCDFileASCII ("scene13-mls.pcd", mls_points);
    
39. }

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