Fixing colors

Most color noise can be smoothed by Gaussian filter

• Use CloudCompare

Highly bad data can be fixed with custom pipeline

Export

• 1 structured .e57 file with N low-res clouds, origins and images
• N unstructured .e57 files with full-point clouds.

1. Merge unstructured data with VoxelizeE57FilesByOriginDistance

• voxelizes data to desired resolution
• final voxel stores by default a point with the lowest distance from the scanning origin (origin parsed from the structured .e57 file)
• filters out measurements with respect to the sensor accuracy
• produces a binary .pcd file

2. Smooth colors using CloudCompare