点云处理以及三维重建 PCL滤波

点云处理方法

https://blog.csdn.net/pdw521/article/details/82492428?utm_source=blogxgwz4

三维重建

https://www.cnblogs.com/wangyaning/p/7853894.html

PCL函数查阅

http://docs.pointclouds.org/trunk/index.html

点云数据处理过程的方法

https://blog.csdn.net/xs1997/article/details/78501120

点云数据处理流程

https://blog.csdn.net/pdw521/article/details/82492428?utm_source=blogxgwz4

关于用PCL对点云处理的实用讲解

https://blog.csdn.net/xuezhisdc/article/details/51012300

双边低通滤波：

package com.gloomyfish.blurring.study;  
/** 
 *  A simple and important case of bilateral filtering is shift-invariant Gaussian filtering 
 *  refer to - http://graphics.ucsd.edu/~iman/Denoising/ 
 *  refer to - http://homepages.inf.ed.ac.uk/rbf/CVonline/LOCAL_COPIES/MANDUCHI1/Bilateral_Filtering.html 
 *  thanks to cyber
 双边低通滤波
 */  
import java.awt.image.BufferedImage;  
  
public class BilateralFilter extends AbstractBufferedImageOp {
     
    private final static double factor = -0.5d;  
    private double ds; // distance sigma  
    private double rs; // range sigma  
    private int radius; // half length of Gaussian kernel Adobe Photoshop   
    private double[][] cWeightTable;  
    private double[] sWeightTable;  
    private int width;  
    private int height;  
      
    public BilateralFilter() {
     
        this.ds = 1.0f;  
        this.rs = 1.0f;  
    }  
      
    private void buildDistanceWeightTable() {
     
        int size = 2 * radius + 1;  
        cWeightTable = new double[size][size];  
        for(int semirow = -radius; semirow <= radius; semirow++) {
     
            for(int semicol = - radius; semicol <= radius; semicol++) {
     
                // calculate Euclidean distance between center point and close pixels  
                double delta = Math.sqrt(semirow * semirow + semicol * semicol)/ds;  
                double deltaDelta = delta * delta;