Centroid of nearby points in range images

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Centroid of nearby points in range images


After obtaining range images, by mimicking the example, how would one replace all the NaN values with centroids of neighboring points?

I tried applying the MLS filtering on it, guided by the idea it is derived from a point cloud, but there is a type mismatch. Also, I am not sure how would centroid calculation handle all the NANs.

I would prefer doing this on the image than the original point cloud because the image is only a small subset of the whole cloud.

Are there any pre-designed solutions for this?

Thanks in advance to all!

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