noise points

[ShuangqingWang]

This is a great piece of work, but there are a lot of noise points in my point cloud due to incomplete data. I'm not sure what the cause is, and I would appreciate it if the author could help clarify my doubts. My image is 2400*1800 pixels, and the missing depth values are set to 0. The uploaded image shows the noisy points.

[IceTTTb]

Hi @ShuangqingWang ,

Thank you for your interest!
 
It appears that the noise points are occurring along the edges.
Could you please share the image and depth map you're using?

[ShuangqingWang]

Thank you very much for your previous response and for the support from your research group.

Regarding the source file 16_34_34_229.zip (which includes depth_data.npy, intrinsics.txt, raw_depth.png, and rgb.png), the original depth maps contain certain defects. I have processed these using the lingbot-depth algorithm and generated the result file point_cloud_result.zip.

While the resulting point cloud file represents the completed depth data, I have observed a significant amount of noise within the output. I would appreciate it if you could look into this issue.

16_34_34_229.zip

point_cloud_result.zip