GreedyProjectionTriangulation<pcl::PointXYZ> gp3;    
    gp3.setSearchRadius (0.025); // Set the maximum distance between connected points (maximum edge length)
    // Set typical values for the parameters
    gp3.setMu (2.5);
    gp3.setMaximumNearestNeighbors (100);
    gp3.setMaximumSurfaceAngle(M_PI/4); // 45 degrees
    gp3.setMinimumAngle(M_PI/18); // 10 degrees
    gp3.setMaximumAngle(2*M_PI/3); // 120 degrees
    gp3.setNormalConsistency(false);
    gp3.setInputCloud (cloud_smoothed);
    PolygonMesh mesh_gpt;
    gp3.reconstruct (mesh_gpt);