Point Cloud Library (PCL)  1.9.1-dev
fast_bilateral_omp.h
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6  * Copyright (c) 2004, Sylvain Paris and Francois Sillion
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37  * $Id: fast_bilateral_omp.h 8379 2013-01-02 23:12:21Z sdmiller $
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40 
41 #pragma once
42 
43 #include <pcl/filters/filter.h>
44 #include <pcl/filters/fast_bilateral.h>
45 
46 namespace pcl
47 {
48  /** \brief Implementation of a fast bilateral filter for smoothing depth information in organized point clouds
49  * Based on the following paper:
50  * * Sylvain Paris and Fredo Durand
51  * "A Fast Approximation of the Bilateral Filter using a Signal Processing Approach"
52  * European Conference on Computer Vision (ECCV'06)
53  *
54  * More details on the webpage: http://people.csail.mit.edu/sparis/bf/
55  */
56  template<typename PointT>
58  {
59  protected:
65 
67 
68  public:
69 
70  using Ptr = boost::shared_ptr<FastBilateralFilterOMP<PointT> >;
71  using ConstPtr = boost::shared_ptr<const FastBilateralFilterOMP<PointT> >;
72 
73  /** \brief Empty constructor. */
74  FastBilateralFilterOMP (unsigned int nr_threads = 0)
75  {
76  setNumberOfThreads(nr_threads);
77  }
78 
79  /** \brief Initialize the scheduler and set the number of threads to use.
80  * \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
81  */
82  void
83  setNumberOfThreads (unsigned int nr_threads = 0);
84 
85  /** \brief Filter the input data and store the results into output.
86  * \param[out] output the resultant point cloud
87  */
88  void
89  applyFilter (PointCloud &output) override;
90 
91  protected:
92  /** \brief The number of threads the scheduler should use. */
93  unsigned int threads_;
94 
95  };
96 }
97 
98 #ifdef PCL_NO_PRECOMPILE
99 #include <pcl/filters/impl/fast_bilateral_omp.hpp>
100 #else
101 #define PCL_INSTANTIATE_FastBilateralFilterOMP(T) template class PCL_EXPORTS pcl::FastBilateralFilterOMP<T>;
102 #endif
typename FastBilateralFilter< PointT >::Array3D Array3D
unsigned int threads_
The number of threads the scheduler should use.
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
Implementation of a fast bilateral filter for smoothing depth information in organized point clouds B...
void applyFilter(PointCloud &output) override
Filter the input data and store the results into output.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
boost::shared_ptr< FastBilateralFilter< PointT > > Ptr
Implementation of a fast bilateral filter for smoothing depth information in organized point clouds B...
boost::shared_ptr< const FastBilateralFilter< PointT > > ConstPtr
FastBilateralFilterOMP(unsigned int nr_threads=0)
Empty constructor.