////////////////////////////////////高斯滤波//////////////////////////////////////

//Set up the Gaussian Kernel

pcl::filters::GaussianKernel::Ptr kernel(new pcl::filters::GaussianKernel);

(*kernel).setSigma(8);

(*kernel).setThresholdRelativeToSigma(5);

std::cout << "Kernel made" << std::endl;

//Set up the KDTreepcl::search::KdTree::Ptr kdtree(new pcl::search::KdTree);

(*kdtree).setInputCloud(cloud_filtered);

std::cout << "KdTree made" << std::endl;

//Set up the Convolution Filterpcl::filters::Convolution3D> convolution;

convolution.setKernel(*kernel);

convolution.setInputCloud(cloud_filtered);

convolution.setSearchMethod(kdtree);

convolution.setRadiusSearch(5);

std::cout << "Convolution Start" << std::endl;

convolution.convolve(*cloud_filtered);

std::cout << "Convoluted" << std::endl;