平滑曲线（基于均值）

void smooth(std::vector<std::vector<double>>& centerLine, std::vector<std::vector<double>>& smoothedCenterLine)
{
    smoothedCenterLine.resize(centerLine.size());
    int step = 2;
    for (int i = 0; i < centerLine.size(); i++)
    {
        std::vector<double> val = {0, 0, 0};
        for (int m = i - step; m <= (i + step); m++)
        {
            int index = m;
            if (index < 0)
                index = 0;
            else if (index > (centerLine.size() - 1))
                index = centerLine.size() - 1;

            for (int n = 0; n < 3; n++)
            {
                val[n] += centerLine[index][n];
            }
        }
        for (int n = 0; n < 3; n++)
        {
            val[n] /= (2 * step + 1);
        }
        smoothedCenterLine[i] = val;
    }
}