Point-based rendering and removal of projection noise

A non-transitory machine readable medium storing instructions which, when executed by one or more processors, cause the one or more processors to perform operations comprising:

• dividing a first projection of a first location of a point cloud data set into a plurality of regions, the plurality of regions comprising a plurality of pixels, the first projection representing a projection of the first location of the point cloud data set onto a first projection plane;
• detecting errant visual content in a first region in the plurality of regions;
• determining a detail frequency rating for the first region;
• and
• applying one of a first rendering technique to the first region in the plurality of regions when the detail frequency rating for the first region in the plurality of regions fails to meet a detail frequency threshold or a second rendering technique to the first region in the plurality of regions when the detail frequency rating for the first region in the plurality of regions meets the detail frequency threshold.

An apparatus, comprising:

• a processor to divide a first projection of a first location of a point cloud data set into a plurality of regions, the plurality of regions comprising a plurality of pixels, the first projection representing a projection of the first location of the point cloud data set onto a first projection plane;
• the plurality of regions comprising a plurality of pixels, detect errant visual content in a first region in the plurality of regions, determine a detail frequency rating for the first region, and apply one of a first rendering technique to the first region in the plurality of regions when the detail frequency rating for the first region in the plurality of regions fails to meet a detail frequency threshold or a second rendering technique to the first region in the plurality of regions when the detail frequency rating for the first region in the plurality of regions meets the detail frequency threshold;
• and
• a memory communicatively coupled to the processor.