Is filtering of the negative points in the z direction necessary?

[MariusGhica]

@danielsanjosepro correct me if I am wrong, but in the function getTriangulatedPointsMultiView both outliers, and negative points in z direction are filtered. When plotting, the y axis is the height and the xz plane represents the ground. But if the points are filtered in the z direction, we lose points, am I right?

This is the change in the code in the function getTriangulatedPointsMultiView:

valid_index = valid_index & (reprojectionErrors < max_reprojection_error);

If the negative points in the z direction are not filtered, I get such a result. This is a sample with 30 images from the delivery area.

To achieve this result I am applying preprocessing, which I will push tomorrow and aggresive denosing would still be helpful, but just by the way.

[danielsanjosepro]

You are right. That is why it looked wrong. The filtering of negative z was intended for 2 images (where negative z points would make no sense. I already corrected this then, I will push now in the benchmarking branch. And nice ! i am looking forward to see what you have tomorrow