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Code looks ok, i'm guessing the problem is that your input point cloud has too few points (only 5) and with very sparse coordinates (you are randomizing them) so that mls can't find any surface in a radius of 3cm.

Also generally you should compute normals yourself, with NormalEstimation class and supply your normal to mls with mls.setInputNormals so that you can control how these normals are computed.

Hope this helps

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