Problem with the MLS Upsampling Voxel

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Problem with the MLS Upsampling Voxel

meakcey
Hi
I am having problem with MLS Upsampling using VOXEL_GRID_DILATION


pcl::MovingLeastSquares<pcl::PointNormal, pcl::PointXYZ> mlsTool;
pcl::search::KdTree<pcl::PointNormal>::Ptr kdtree (new
pcl::search::KdTree<pcl::PointNormal>);

mlsTool.setInputCloud(inputPointNormal);
mlsTool.setSearchMethod(kdtree);
mlsTool.setSearchRadius(0.2);
mlsTool.setComputeNormals(false);
mlsTool.setPolynomialFit(true);
mlsTool.setPolynomialOrder(2);
mlsTool.setSqrGaussParam(0.004);

mlsTool.setUpsamplingMethod(pcl::MovingLeastSquares<pcl::PointNormal,
pcl::PointXYZ>::UpsamplingMethod::VOXEL_GRID_DILATION);
mlsTool.setDilationVoxelSize(0.2);
mlsTool.setDilationIterations(4);


pcl::PointCloud<pcl::PointXYZ>::Ptr mlsXYZ(new
pcl::PointCloud<pcl::PointXYZ>);
mlsTool.process(*mlsXYZ);

Result is so many same points on 5-10 different locations
If I use same parameters within Cloud Compare and PCL/MLS Plugin, it gives
desired result.

What is the problem with that?
Thanks




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