Point Cloud Library (PCL)  1.8.1-dev
List of all members | Public Types | Public Member Functions
pcl::BilateralFilter< PointT > Class Template Reference

A bilateral filter implementation for point cloud data. More...

#include <pcl/filters/bilateral.h>

+ Inheritance diagram for pcl::BilateralFilter< PointT >:

Public Types

typedef boost::shared_ptr
< BilateralFilter< PointT > > 
Ptr
 
typedef boost::shared_ptr
< const BilateralFilter
< PointT > > 
ConstPtr
 
- Public Types inherited from pcl::Filter< PointT >
typedef boost::shared_ptr
< Filter< PointT > > 
Ptr
 
typedef boost::shared_ptr
< const Filter< PointT > > 
ConstPtr
 
typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
- Public Types inherited from pcl::PCLBase< PointT >
typedef pcl::PointCloud< PointTPointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr
< PointIndices
PointIndicesPtr
 
typedef boost::shared_ptr
< PointIndices const > 
PointIndicesConstPtr
 

Public Member Functions

 BilateralFilter ()
 Constructor. More...
 
void applyFilter (PointCloud &output)
 Filter the input data and store the results into output. More...
 
double computePointWeight (const int pid, const std::vector< int > &indices, const std::vector< float > &distances)
 Compute the intensity average for a single point. More...
 
void setHalfSize (const double sigma_s)
 Set the half size of the Gaussian bilateral filter window. More...
 
double getHalfSize () const
 Get the half size of the Gaussian bilateral filter window as set by the user. More...
 
void setStdDev (const double sigma_r)
 Set the standard deviation parameter. More...
 
double getStdDev () const
 Get the value of the current standard deviation parameter of the bilateral filter. More...
 
void setSearchMethod (const KdTreePtr &tree)
 Provide a pointer to the search object. More...
 
- Public Member Functions inherited from pcl::Filter< PointT >
 Filter (bool extract_removed_indices=false)
 Empty constructor. More...
 
virtual ~Filter ()
 Empty destructor. More...
 
IndicesConstPtr const getRemovedIndices ()
 Get the point indices being removed. More...
 
void getRemovedIndices (PointIndices &pi)
 Get the point indices being removed. More...
 
void filter (PointCloud &output)
 Calls the filtering method and returns the filtered dataset in output. More...
 
- Public Member Functions inherited from pcl::PCLBase< PointT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()
 Destructor. More...
 
virtual void setInputCloud (const PointCloudConstPtr &cloud)
 Provide a pointer to the input dataset. More...
 
PointCloudConstPtr const getInputCloud () const
 Get a pointer to the input point cloud dataset. More...
 
virtual void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
virtual void setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr const getIndices ()
 Get a pointer to the vector of indices used. More...
 
IndicesConstPtr const getIndices () const
 Get a pointer to the vector of indices used. More...
 
const PointToperator[] (size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Additional Inherited Members

- Protected Member Functions inherited from pcl::Filter< PointT >
const std::string & getClassName () const
 Get a string representation of the name of this class. More...
 
- Protected Member Functions inherited from pcl::PCLBase< PointT >
bool initCompute ()
 This method should get called before starting the actual computation. More...
 
bool deinitCompute ()
 This method should get called after finishing the actual computation. More...
 
- Protected Attributes inherited from pcl::Filter< PointT >
IndicesPtr removed_indices_
 Indices of the points that are removed. More...
 
std::string filter_name_
 The filter name. More...
 
bool extract_removed_indices_
 Set to true if we want to return the indices of the removed points. More...
 
- Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr input_
 The input point cloud dataset. More...
 
IndicesPtr indices_
 A pointer to the vector of point indices to use. More...
 
bool use_indices_
 Set to true if point indices are used. More...
 
bool fake_indices_
 If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...
 

Detailed Description

template<typename PointT>
class pcl::BilateralFilter< PointT >

A bilateral filter implementation for point cloud data.

Uses the intensity data channel.

Note
For more information please see C. Tomasi and R. Manduchi. Bilateral Filtering for Gray and Color Images. In Proceedings of the IEEE International Conference on Computer Vision, 1998.
Author
Luca Penasa

Definition at line 57 of file bilateral.h.

Member Typedef Documentation

template<typename PointT >
typedef boost::shared_ptr< const BilateralFilter<PointT> > pcl::BilateralFilter< PointT >::ConstPtr

Definition at line 67 of file bilateral.h.

template<typename PointT >
typedef boost::shared_ptr< BilateralFilter<PointT> > pcl::BilateralFilter< PointT >::Ptr

Definition at line 66 of file bilateral.h.

Constructor & Destructor Documentation

template<typename PointT >
pcl::BilateralFilter< PointT >::BilateralFilter ( )
inline

Constructor.

Sets sigma_s_ to 0 and sigma_r_ to MAXDBL

Definition at line 73 of file bilateral.h.

Member Function Documentation

template<typename PointT >
void pcl::BilateralFilter< PointT >::applyFilter ( PointCloud output)
virtual

Filter the input data and store the results into output.

Parameters
[out]outputthe resultant point cloud message

Implements pcl::Filter< PointT >.

Definition at line 73 of file bilateral.hpp.

References pcl::PointCloud< T >::points.

template<typename PointT >
double pcl::BilateralFilter< PointT >::computePointWeight ( const int  pid,
const std::vector< int > &  indices,
const std::vector< float > &  distances 
)

Compute the intensity average for a single point.

Parameters
[in]pidthe point index to compute the weight for
[in]indicesthe set of nearest neighor indices
[in]distancesthe set of nearest neighbor distances
Returns
the intensity average at a given point index

Definition at line 47 of file bilateral.hpp.

template<typename PointT >
double pcl::BilateralFilter< PointT >::getHalfSize ( ) const
inline

Get the half size of the Gaussian bilateral filter window as set by the user.

Definition at line 104 of file bilateral.h.

template<typename PointT >
double pcl::BilateralFilter< PointT >::getStdDev ( ) const
inline

Get the value of the current standard deviation parameter of the bilateral filter.

Definition at line 116 of file bilateral.h.

template<typename PointT >
void pcl::BilateralFilter< PointT >::setHalfSize ( const double  sigma_s)
inline

Set the half size of the Gaussian bilateral filter window.

Parameters
[in]sigma_sthe half size of the Gaussian bilateral filter window to use

Definition at line 99 of file bilateral.h.

template<typename PointT >
void pcl::BilateralFilter< PointT >::setSearchMethod ( const KdTreePtr &  tree)
inline

Provide a pointer to the search object.

Parameters
[in]treea pointer to the spatial search object.

Definition at line 123 of file bilateral.h.

template<typename PointT >
void pcl::BilateralFilter< PointT >::setStdDev ( const double  sigma_r)
inline

Set the standard deviation parameter.

Parameters
[in]sigma_rthe new standard deviation parameter

Definition at line 111 of file bilateral.h.


The documentation for this class was generated from the following files: