organizedpointfilters.utility.helper.laplacian_then_bilateral_opc

organizedpointfilters.utility.helper.laplacian_then_bilateral_opc(opc, loops_laplacian=5, _lambda=0.5, kernel_size=3, loops_bilateral=0, sigma_length=0.1, sigma_angle=0.261, **kwargs)

Performs Laplacian Smoothing on Point Cloud and then performs Bilateral normal smoothing

Parameters:

{ndarray} -- Organized Point Cloud (opc) –

Keyword Arguments:

• {int} -- How many iterations of laplacian smoothing (default (loops_laplacian) – {5})

• {float} -- Weigh factor for laplacian (default (_lambda) – {0.5})

• {int} -- Kernel Size for Laplacian (default (kernel_size) – {3})

• {int} -- How many iterations of bilateral smoothing (default (loops_bilateral) – {0})

• {float} -- Scaling factor for length bilateral (default (sigma_length) – {0.1})

• {float} -- Scaling factor for angle bilateral (default (sigma_angle) – {0.261})

Returns:

tuple(ndarray, ndarray) – Smoothed OPC M*NX3, Smoothed Normals M*NX3, the arrays are flattened