Implementing a Gaussian Filter in PCL

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Hi All

I have a point cloud that needs some smoothing, and I'd like to use the GaussianKernel object to filter them using PCL. However, the only example I can find for how to use it is here, and my implementation of it is hanging when I call the convolve() method:

http://www.pcl-users.org/3D-Gaussian-...

This is all to provide context for my question, which is: what is the simplest way to implement (fast) gaussian smoothing on a PCL point cloud object, with control over the sigma value and the size of the kernel in some way?