Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Protected Types | Protected Attributes
pcl::FastBilateralFilterOMP< 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_omp.h>

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

Public Types

using Ptr = boost::shared_ptr< FastBilateralFilterOMP< PointT > >
 
using ConstPtr = boost::shared_ptr< const FastBilateralFilterOMP< PointT > >
 
- Public Types inherited from pcl::FastBilateralFilter< PointT >
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 = PointIndices::Ptr
 
using PointIndicesConstPtr = PointIndices::ConstPtr
 

Public Member Functions

 FastBilateralFilterOMP (unsigned int nr_threads=0)
 Empty constructor. More...
 
void setNumberOfThreads (unsigned int nr_threads=0)
 Initialize the scheduler and set the number of threads to use. More...
 
void applyFilter (PointCloud &output) override
 Filter the input data and store the results into output. More...
 
- Public Member Functions inherited from pcl::FastBilateralFilter< PointT >
 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...
 
- 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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::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[] (std::size_t pos) const
 Override PointCloud operator[] to shorten code. More...
 

Protected Types

using Array3D = typename FastBilateralFilter< PointT >::Array3D
 
using PointCloud = typename Filter< PointT >::PointCloud
 
- Protected Types inherited from pcl::FastBilateralFilter< PointT >
using PointCloud = typename Filter< PointT >::PointCloud
 

Protected Attributes

unsigned int threads_
 The number of threads the scheduler should use. More...
 
- Protected Attributes inherited from pcl::FastBilateralFilter< PointT >
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::FastBilateralFilterOMP< 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 57 of file fast_bilateral_omp.h.

Member Typedef Documentation

◆ Array3D

template<typename PointT >
using pcl::FastBilateralFilterOMP< PointT >::Array3D = typename FastBilateralFilter<PointT>::Array3D
protected

Definition at line 64 of file fast_bilateral_omp.h.

◆ ConstPtr

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

Definition at line 71 of file fast_bilateral_omp.h.

◆ PointCloud

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

Definition at line 66 of file fast_bilateral_omp.h.

◆ Ptr

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

Definition at line 70 of file fast_bilateral_omp.h.

Constructor & Destructor Documentation

◆ FastBilateralFilterOMP()

template<typename PointT >
pcl::FastBilateralFilterOMP< PointT >::FastBilateralFilterOMP ( unsigned int  nr_threads = 0)
inline

Member Function Documentation

◆ applyFilter()

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

Filter the input data and store the results into output.

Parameters
[out]outputthe resultant point cloud

Reimplemented from pcl::FastBilateralFilter< PointT >.

Definition at line 63 of file fast_bilateral_omp.hpp.

References pcl::PointCloud< PointT >::at(), pcl::copyPointCloud(), pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::size(), and pcl::PointCloud< PointT >::width.

Referenced by pcl::FastBilateralFilterOMP< PointT >::FastBilateralFilterOMP().

◆ setNumberOfThreads()

template<typename PointT >
void pcl::FastBilateralFilterOMP< PointT >::setNumberOfThreads ( unsigned int  nr_threads = 0)

Initialize the scheduler and set the number of threads to use.

Parameters
nr_threadsthe number of hardware threads to use (0 sets the value back to automatic)

Definition at line 49 of file fast_bilateral_omp.hpp.

Referenced by pcl::FastBilateralFilterOMP< PointT >::FastBilateralFilterOMP().

Member Data Documentation

◆ threads_

template<typename PointT >
unsigned int pcl::FastBilateralFilterOMP< PointT >::threads_
protected

The number of threads the scheduler should use.

Definition at line 93 of file fast_bilateral_omp.h.


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