Point Cloud Library (PCL)  1.9.1-dev
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pcl::FastBilateralFilter< PointT > Class Template Reference

Implementation of a fast bilateral filter for smoothing depth information in organized point clouds Based on the following paper: More...

#include <pcl/filters/fast_bilateral.h>

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

Classes

class  Array3D
 

Public Types

using Ptr = boost::shared_ptr< FastBilateralFilter< PointT > >
 
using ConstPtr = boost::shared_ptr< const FastBilateralFilter< PointT > >
 
- Public Types inherited from pcl::Filter< PointT >
using Ptr = boost::shared_ptr< Filter< PointT > >
 
using ConstPtr = boost::shared_ptr< const Filter< PointT > >
 
using PointCloud = pcl::PointCloud< PointT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
- Public Types inherited from pcl::PCLBase< PointT >
using PointCloud = pcl::PointCloud< PointT >
 
using PointCloudPtr = typename PointCloud::Ptr
 
using PointCloudConstPtr = typename PointCloud::ConstPtr
 
using PointIndicesPtr = boost::shared_ptr< PointIndices >
 
using PointIndicesConstPtr = boost::shared_ptr< PointIndices const >
 

Public Member Functions

 FastBilateralFilter ()
 Empty constructor. More...
 
 ~FastBilateralFilter ()
 Empty destructor. More...
 
void setSigmaS (float sigma_s)
 Set the standard deviation of the Gaussian used by the bilateral filter for the spatial neighborhood/window. More...
 
float getSigmaS () const
 Get the size of the Gaussian bilateral filter window as set by the user. More...
 
void setSigmaR (float sigma_r)
 Set the standard deviation of the Gaussian used to control how much an adjacent pixel is downweighted because of the intensity difference (depth in our case). More...
 
float getSigmaR () const
 Get the standard deviation of the Gaussian for the intensity difference. More...
 
void applyFilter (PointCloud &output) override
 Filter the input data and store the results into output. More...
 
- Public Member Functions inherited from pcl::Filter< PointT >
 Filter (bool extract_removed_indices=false)
 Empty constructor. More...
 
 ~Filter ()
 Empty destructor. More...
 
IndicesConstPtr const getRemovedIndices () const
 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...
 

Protected Types

using PointCloud = typename Filter< PointT >::PointCloud
 

Protected Attributes

float sigma_s_
 
float sigma_r_
 
bool early_division_
 
- 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...
 

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...
 

Detailed Description

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

Implementation of a fast bilateral filter for smoothing depth information in organized point clouds Based on the following paper:

More details on the webpage: http://people.csail.mit.edu/sparis/bf/

Definition at line 56 of file fast_bilateral.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT >
using pcl::FastBilateralFilter< PointT >::ConstPtr = boost::shared_ptr<const FastBilateralFilter<PointT> >

Definition at line 65 of file fast_bilateral.h.

◆ PointCloud

template<typename PointT >
using pcl::FastBilateralFilter< PointT >::PointCloud = typename Filter<PointT>::PointCloud
protected

Definition at line 60 of file fast_bilateral.h.

◆ Ptr

template<typename PointT >
using pcl::FastBilateralFilter< PointT >::Ptr = boost::shared_ptr<FastBilateralFilter<PointT> >

Definition at line 64 of file fast_bilateral.h.

Constructor & Destructor Documentation

◆ FastBilateralFilter()

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

Empty constructor.

Definition at line 68 of file fast_bilateral.h.

◆ ~FastBilateralFilter()

template<typename PointT >
pcl::FastBilateralFilter< PointT >::~FastBilateralFilter ( )
inline

Empty destructor.

Definition at line 75 of file fast_bilateral.h.

Member Function Documentation

◆ applyFilter()

template<typename PointT >
void pcl::FastBilateralFilter< PointT >::applyFilter ( PointCloud output)
overridevirtual

◆ getSigmaR()

template<typename PointT >
float pcl::FastBilateralFilter< PointT >::getSigmaR ( ) const
inline

Get the standard deviation of the Gaussian for the intensity difference.

Definition at line 101 of file fast_bilateral.h.

References pcl::FastBilateralFilter< PointT >::applyFilter(), and pcl::FastBilateralFilter< PointT >::sigma_r_.

◆ getSigmaS()

template<typename PointT >
float pcl::FastBilateralFilter< PointT >::getSigmaS ( ) const
inline

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

Definition at line 87 of file fast_bilateral.h.

References pcl::FastBilateralFilter< PointT >::sigma_s_.

◆ setSigmaR()

template<typename PointT >
void pcl::FastBilateralFilter< PointT >::setSigmaR ( float  sigma_r)
inline

Set the standard deviation of the Gaussian used to control how much an adjacent pixel is downweighted because of the intensity difference (depth in our case).

Parameters
[in]sigma_rthe standard deviation of the Gaussian for the intensity difference

Definition at line 96 of file fast_bilateral.h.

References pcl::FastBilateralFilter< PointT >::sigma_r_.

◆ setSigmaS()

template<typename PointT >
void pcl::FastBilateralFilter< PointT >::setSigmaS ( float  sigma_s)
inline

Set the standard deviation of the Gaussian used by the bilateral filter for the spatial neighborhood/window.

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

Definition at line 82 of file fast_bilateral.h.

References pcl::FastBilateralFilter< PointT >::sigma_s_.

Member Data Documentation

◆ early_division_

template<typename PointT >
bool pcl::FastBilateralFilter< PointT >::early_division_
protected

Definition at line 113 of file fast_bilateral.h.

◆ sigma_r_

template<typename PointT >
float pcl::FastBilateralFilter< PointT >::sigma_r_
protected

◆ sigma_s_

template<typename PointT >
float pcl::FastBilateralFilter< PointT >::sigma_s_
protected

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