RayDenoise is a tool for cleaning noise from raycloud data. It focuses on eliminating edge noise and isolated point noise, enhancing the quality of the data for further processing and analysis.
The general syntax for using RayDenoise is as follows:
raydenoise <input_file> [options]
<input_file>: Specifies the path to the raycloud file to be processed.[options]: A series of options to define the noise removal process.
To remove rays that contact more than a specified distance from any other ray:
raydenoise raycloud 4 cm
- This command removes rays that have a contact distance greater than 4 cm from any other ray in the cloud.
To remove points that are more than a certain number of standard deviations (sigmas) from the nearest points:
raydenoise raycloud 3 sigmas
- This command eliminates points that are more than 3 standard deviations away from their nearest neighbors.
To remove noise that occurs at a range gap, specifying a distance threshold:
raydenoise raycloud range 4 cm
- This option targets mixed-signal noise, specifically noise that occurs at gaps in the range data, with a threshold of 4 cm.
- It's recommended to experiment with different thresholds and settings based on the specific characteristics of your data and your specific use case.
- For more detailed information on command usage and additional options, refer to the
RayDenoisesource code atraycloudtools/raydenoise/raydenoise.cpp.