Conditional Random Fields label refine on pointcloud.
Point Cloud Library (PCL) http://pointclouds.org/
mkdir build cd build cmake .. make
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convert color label to PCL pointcloud label attribute ./label orginal.pcd labelled.pcd
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run CRF ./crf original.pcd labelled.pcd parameters
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convert PCL label to color label ./unlabel labelled.pcd result.pcd