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I found that this could be easily done using MLS (moving-least-squares).

The tutorial given at: http://pointclouds.org/documentation/tutorials/resampling.php#moving-least-squares helps in generating smooth mesh.

However when I try to combine it with mesh generation code in one go, I got segmentation fault. Any help there is greatly appreciated. I have asked it at: http://answers.ros.org/question/187188/unable-to-combine-mls-and-mesh-generation-in-one-file/