利用MarchingCubesGreedy进行曲面重建

    // Normal estimation*
	pcl::search::KdTree<pcl::PointXYZ>::Ptr tree (new pcl::search::KdTree<pcl::PointXYZ>);
    tree->setInputCloud(mls_points);

    pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> n;
    n.setInputCloud(mls_points);
    n.setSearchMethod(tree);
    n.setKSearch(20);

    pcl::PointCloud<pcl::Normal>::Ptr normals(new pcl::PointCloud<pcl::Normal>);
    n.compute(*normals);
    //* normals should not contain the point normals + surface curvatures

    // Concatenate the XYZ and normal fields*
	pcl::PointCloud<pcl::PointNormal>::Ptr cloud_with_normals (new pcl::PointCloud<pcl::PointNormal>);
    concatenateFields(*mls_points, *normals, *cloud_with_normals);
    //* cloud_with_normals = cloud + normals

    // Create search tree*
	pcl::search::KdTree<pcl::PointNormal>::Ptr tree2 (new pcl::search::KdTree<pcl::PointNormal>);
    tree2->setInputCloud(cloud_with_normals);

    // Init objects
    pcl::PolygonMesh mesh;
    pcl::MarchingCubesGreedy<pcl::PointNormal> mc;

    // Set parameters
	double leafSize = 0.01;
	float isoLevel = 0.5;
    mc.setInputCloud(cloud_with_normals);
    mc.setSearchMethod(tree2);
    mc.setLeafSize(leafSize);
    mc.setIsoLevel(isoLevel);

    // Reconstruct
    mc.reconstruct (mesh);
	std::cout << "MarchingCubesGreedy reconstruct done"<<std::endl;