guided_filter_point_cloud_denoising

C++ Implementation of PointCloud Denoising with Guided Filter originally defined in http://kaiminghe.com/publications/pami12guidedfilter.pdf

Requires PCL(prefers 1.7) and Eigen Libraries.

Algorithm definition;

Results;

Original Stanford Bunny;

Noise Added to Original Cloud;

Result of Smoothing;

Installation and Usage

git clone https://github.com/jediofgever/guided_filter_point_cloud_denoising.git
cd guided_filter_point_cloud_denoising
mkdir build && cd build
cmake .. 
make

After successfull build try the following command to reproduce results;

./smooth_pcl ../data/bunny_original.pcd ../data/bunny_noisy.pcd ../data/bunny_smoothed.pcd

Referencees

• https://github.com/aipiano/guided-filter-point-cloud-denoise
• http://kaiminghe.com/publications/pami12guidedfilter.pdf