One 、 Principle overview

In the field of two-dimensional images , The bilateral filtering algorithm considers the distance between the central pixel and the neighborhood pixel ( On one side ) And the weight determined by the pixel brightness difference ( On the other side ) To correct the position of the current sampling center point , So as to achieve smooth filtering effect . At the same time, it will selectively eliminate the part with the current sampling point “ differences ” Too large adjacent sampling points , So as to maintain the original characteristics , And into the three-dimensional point cloud , We change the bilateral weight into the distance weight between the current point and adjacent points （ On one side ） And the projection weight of adjacent points along the normal vector of the current point （ On one side ） that will do .

The specific calculation process is as follows ：

Two 、 Implementation code

BilateralFiltering.m

% Point cloud bilateral filtering 
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