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