BilateralFilter  README File

JulieDigne [email protected]
version 1.0

**INTRODUCTION
This software applies a denoising filter, called the bilateral filter, to a set of oriented or non-oriented 3D points given by their coordinates and oriented normals, if any.
It is an implementation of the Bilateral Filter described in [Fleischman et al. 2003] adapted to point clouds.

**DEPENDENCIES
This program requires only the Standard Template Library (g++4.7.3 or higher) and is parallelized using OpenMP (version 3.1 or higher).

**INSTALLATION
1- unzip the archive
2- cd BilateralFilter
4- mkdir build
5- cd build
6- cmake -DCMAKE_BUILD_TYPE=Release ..
7- make

Note on compilers:
The program was compiled with g++4.9 on ubuntu 14.04

USAGE
A typical usage for this program is

bilateralfilterINPUT OUTPUT -r \<radius\>  -n \<Normal radius\>-N \<Niter\> -p


where:
** \b INPUT (mandatory) file containing the oriented or non-oriented points. It should be formatted as a simple ascii file, with one point per line separated by tabulations
Orientedpoints example:
x1	y1	z1	nx1	ny1	nz1
x2	y2	z2	nx2	ny2	nz2
....
xn	yn	zn	nxn	nyn	nzn
Non-orientedpoints example:
x1	y1	z1
x2	y2	z2
....
xn	yn	zn

\b OUTPUT (mandatory) output file

   <b>-r</b> (recommended) neighborhood radius, will be translated into a distance weight.

   <b>-n</b>     (recommended) normal neighborhood radius, will be translated into a normal distance weight.

   <b>-N</b>    Number of filter iterations (default: 1).

   <b>-p</b>    (recommended) will perform the computation in parallel.

   <b>-R</b>    use this option if the point cloud is oriented

**PROVIDED EXAMPLE
An example of the algorithm input/output is given in the "sample" directory.
The input file is named "sphere_noisy_oriented.txt"
Running:
bilateralfiltersphere_noisy_oriented.txt sphere_denoised.txt -R -r 0.04 -n 0.04 -N 1

produced the following file: sphere_denoised.txt


**ADDITIONAL SCRIPT
An additional script for adding gaussian noise to shapes is added in folder 'scripts': addnoise.py. It is run using the following command line

addnoise.py -i INPUT -o OUTPUT -v <noise variance>

where the noise variance is expressed as a percentage of the shape diagonal.

**NOTE ON THE INPUT FILE FORMAT

This filter can be used with points with other properties than a normal (e.g. color, confidence value... any type of scalar field applied to the point).
The file format is always the same an ascii file with a line per point, each line should start with the x,y,z coordinates, then the normal coordinates nx,ny,nz (if normal information is given) then the scalar values always separated by a tabulation.
The only constraint is that each point should have the exact same number of properties attached (ie: all lines should have the same length)
The properties will be attached to each point and each filtered point will keep the same properties as the corresponding input point.
If the <b>-R</b> option is used then the 3 values after the x,y,z coordinates will be interpreted as an oriented normal, and the output points will all have filtered oriented normals.


**COPYRIGHT

 This program is free software: you can redistribute it and/or
 modify it under the terms of the GNU General Public License as published
 by the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.
 This program is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.
 You should have received a copy of the GNU General Public License
 along with this program.  If not, see <http://www.gnu.org/licenses/>.