Local surface fitting to 3d points

I have set of 3d points, but it contains some outliers. My goal is to map original set of 3d points to "smoothed" set of 3d points and get rid of outliers. The approach I choose is - local surface fitting. I'm using C++ for my application, so I was wondering if this algorithm was already implemented in some library (ideally in opencv)?

Copyright Notice：Content Author:「Pavel Podlipensky」，Reproduced under the CC 4.0 BY-SA copyright license with a link to the original source and this disclaimer.
Link to original article：https://stackoverflow.com/questions/35422926/local-surface-fitting-to-3d-points

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