What are the methods in Vedo to clean a pointcloud data or to remove outlier removal....

[sonumathur]

I have a noisy pointcloud data and i want to to clean this pointcloud for surface Reconstruction...... What are the methods available in vedo to clean or outlier removal of pointcloud. If possible please provide examples.... Thanks

PointClouds.zip

[sonumathur]

The pointcloud in attachments are colored point cloud captured from realsense D435.

[marcomusy]

vedo does not support data arrays for PCD at present and format has to be ascii not binary. So I cannot read pc_2. You can either use delauney triangulation or volumetric surface reconstruction:

from vedo import *
pts = Points("data/point_1.pcd").clean(0.0075).pointSize(4)
surf1 = delaunay2D(pts, mode='fit').clean().lighting('default')
surf2= recoSurface(pts, radius=0.03, holeFilling=0, pad=0)
show(pts, surf1, surf2, N=3, axes=1)

[sonumathur]

Thanks @marcomusy In these pointcloud there is color information also. how I can apply the color information to these surface like this:

[marcomusy]

if you can provide a PCD file with associated pointdata in plain ascii format (not binary) I could easily implement it.

[sonumathur]

Hi @marcomusy

I have attached a ASCII format PCD file. Can you please help about how to add color information to after reconstruction. T_5.zip

[sonumathur]

Hi @marcomusy, is there solution in vedo of above example