cmvr-es/third_party/mech-eye-sdk/samples/cpp/profiler/NoiseRemoval/README.md

# NoiseRemoval Sample

With this sample, you can remove the noise in the depth data and obtain the filtered profile data.

>Note: The noise removal function can only be applied after all profiles have been retrieved. Therefore, the profile data must be retrieved with a callback function instead of polling.

If you have any questions or have anything to share, feel free to post on the [Mech-Mind Online Community](https://community.mech-mind.com/). The community also contains a [specific category for development with Mech-Eye SDK](https://community.mech-mind.com/c/mech-eye-sdk-development/19).

## Build the Sample

Prerequisites and instructions for building the sample on Windows and Ubuntu are provided.

### Windows

#### Prerequisites

The following software are required to build this sample. Please download and install these software.

* [Mech-Eye SDK (latest version)](https://downloads.mech-mind.com/?tab=tab-sdk)
* [Visual Studio (version 2017 or above)](https://visualstudio.microsoft.com/vs/community/)
* [CMake (version 3.2 or above)](https://cmake.org/download/)
* [OpenCV (version 3.4.5 or above)](https://opencv.org/releases/)

#### Instructions

1. Make sure that the sample is stored in a location with read and write permissions.
2. Add the following directories to the **Path** environment variable:

   * `xxx/opencv/build/x64/vc14/bin`
   * `xxx/opencv/build/x64/vc14/lib`

3. Run Cmake and set the source and build paths:

   | Field                       | Path                   |
   | :----                       | :----                  |
   | Where is the source code    | xxx/NoiseRemoval       |
   | Where to build the binaries | xxx/NoiseRemoval/build |

4. Click the **Configure** button. In the pop-up window, set the generator and platform according to the actual situation, and then click the **Finish** button.
5. When the log displays **Configuring done**, click the **Generate** button. When the log displays **Generating done**, click the **Open Project** button.
6. In Visual Studio toolbar, change the solution configuration from **Debug** to **Release**.
7. In the **Solution Explorer** panel, right-click the sample, and select **Set as Startup Project**.
8. Click the **Local Windows Debugger** button in the toolbar to run the sample.
9. Enter the index of the laser profiler to which you want to connect, and press the Enter key. The obtained files are saved to the `build` folder.

### Ubuntu

Ubuntu 18 or above is required.

#### Prerequisites

* Update the software source list.

  ```bash
  sudo apt-get update
  ```

* Install required tools.

  ```bash
  sudo apt-get install -y build-essential pkg-config cmake
  ```

* Install [Mech-Eye SDK (latest version)](https://downloads.mech-mind.com/?tab=tab-sdk).

  >Note: If you have installed Mech-Eye SDK before, please uninstall it first with the following command:
  >
  >```bash
  >sudo dpkg -P MechEyeApi
  >```

  * If the system architecture is AMD64, execute the following command:

    ```bash
    sudo dpkg -i 'Mech-Eye_API_x.x.x_amd64.deb'
    ```

  * If the system architecture is ARM64, execute the following command:

    ```bash
    sudo dpkg -i 'Mech-Eye_API_x.x.x_arm64.deb'
    ```

* Install third-party libraries: OpenCV is required.
  
  * Install OpenCV (latest version):

    ```bash
    sudo apt update && sudo apt install -y unzip
    wget -O opencv.zip https://github.com/opencv/opencv/archive/4.x.zip
    unzip opencv.zip
    mkdir build && cd build
    cmake ../opencv-4.x
    cmake --build .
    sudo make install
    ```

#### Instructions

1. Navigate to the directory of the sample.

   ```bash
   cd xxx/profiler/NoiseRemoval/
   ```

2. Configure and build the sample.

   ```bash
   sudo mkdir build && cd build
   sudo cmake ..
   sudo make
   ```

3. Run the sample.

   ```bash
   sudo ./NoiseRemoval
   ```

4. Enter the index of the laser profiler to which you want to connect, and press the Enter key. The obtained files are saved to `/NoiseRemoval/build`.