2. About Bilateral Denoising Filter
Bilateral Mesh Denoising
The Visualization ToolKit (VTK) is an open source, freely available software system for 3D computer graphics, image processing, and visualization used by thousands of researchers and developers around the world. VTK consists of a C++ class library, and several interpreted interface layers including Tcl/Tk, Java, and Python. Professional support and products for VTK are provided by Kitware, Inc. VTK supports a wide variety of visualization algorithms including scalar, vector, tensor, texture, and volumetric methods; and advanced modeling techniques such as implicit modelling, polygon reduction, mesh smoothing, cutting, contouring, and Delaunay triangulation. In addition, dozens of imaging algorithms have been directly integrated to allow the user to mix 2D imaging / 3D graphics algorithms and data. The design and implementation of the library has been strongly influenced by object-oriented principles. VTK has been installed and tested on nearly every Unix-based platform, PCs (Windows 98/ME/NT/2000/XP), and Mac OSX Jaguar or later.
The prediction Πq(p) for a point p based on the surface at q is the projection of p to the plane tangent to the surface at q. Points across a sharp feature result in predictions that are farther away, and therefore given less influence. (b) Noisy normals can lead to poor predictors. (c) Mollified normal alleviate this problem. Note that corners are preserved because points are not displaced by the mollification: only the normals are smoothed. (Image from )
Pseudo-code of the algorithm taken from 
Image is taken from 
Original Mesh - Artificial Noise Added to the Mesh - Denoised Mesh
Color coded version which shows the movements of each points:
Color coded offset when filter is applied to the
Original Mesh - Noisy Mesh - Denoised Mesh
6. Denoising vs.
Color coded offset when laplacian smoothing is applied to the
Original Mesh - Noisy Mesh - Smoothed Mesh
Smoothed Mesh - Denoised Mesh
Notice the loss of features specially around the eyes of the bunny.
 Shachar Fleishman , Iddo Drori , Daniel Cohen-Or, Bilateral mesh denoising, ACM Transactions on Graphics (TOG), v.22 n.3, July 2003