Point Cloud Library (PCL)
1.7.0
|
00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2012-, Open Perception, Inc. 00006 00007 * All rights reserved. 00008 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of the copyright holder(s) nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 * $Id$ 00037 * 00038 */ 00039 00040 00041 #ifndef PCL_FILTERS_MEDIAN_FILTER_H_ 00042 #define PCL_FILTERS_MEDIAN_FILTER_H_ 00043 00044 #include <pcl/filters/filter.h> 00045 00046 namespace pcl 00047 { 00048 /** \brief Implementation of the median filter. 00049 * The median filter is one of the simplest and wide-spread image processing filters. It is known to perform well 00050 * with "shot"/impulse noise (some individual pixels having extreme values), it does not reduce contrast across steps 00051 * in the function (as compared to filters based on averaging), and it is robust to outliers. Furthermore, it is 00052 * simple to implement and efficient, as it requires a single pass over the image. It consists of a moving window of 00053 * fixed size that replaces the pixel in the center with the median inside the window. 00054 * 00055 * \note This algorithm filters only the depth (z-component) of _organized_ and untransformed (i.e., in camera coordinates) 00056 * point clouds. An error will be outputted if an unorganized cloud is given to the class instance. 00057 * 00058 * \author Alexandru E. Ichim 00059 * \ingroup filters 00060 */ 00061 template <typename PointT> 00062 class MedianFilter : public pcl::Filter<PointT> 00063 { 00064 using pcl::Filter<PointT>::input_; 00065 typedef typename pcl::Filter<PointT>::PointCloud PointCloud; 00066 00067 public: 00068 /** \brief Empty constructor. */ 00069 MedianFilter () 00070 : window_size_ (5) 00071 , max_allowed_movement_ (std::numeric_limits<float>::max ()) 00072 { } 00073 00074 /** \brief Set the window size of the filter. 00075 * \param[in] window_size the new window size 00076 */ 00077 inline void 00078 setWindowSize (int window_size) 00079 { window_size_ = window_size; } 00080 00081 /** \brief Get the window size of the filter. 00082 * \returns the window size of the filter 00083 */ 00084 inline int 00085 getWindowSize () const 00086 { return window_size_; } 00087 00088 /** \brief Set the largest value one dexel is allowed to move 00089 * \param[in] max_allowed_movement maximum value a dexel is allowed to move during filtering 00090 */ 00091 inline void 00092 setMaxAllowedMovement (float max_allowed_movement) 00093 { max_allowed_movement_ = max_allowed_movement; } 00094 00095 /** \brief Get the maximum distance one point is allowed to move along the z-axis. 00096 * \returns the maximum distance a dexel is allowed to move 00097 */ 00098 inline float 00099 getMaxAllowedMovement () const 00100 { return max_allowed_movement_; } 00101 00102 /** \brief Filter the input data and store the results into output. 00103 * \param[out] output the result point cloud 00104 */ 00105 void 00106 applyFilter (PointCloud &output); 00107 00108 protected: 00109 int window_size_; 00110 float max_allowed_movement_; 00111 }; 00112 } 00113 00114 #ifdef PCL_NO_PRECOMPILE 00115 #include <pcl/filters/impl/median_filter.hpp> 00116 #else 00117 #define PCL_INSTANTIATE_MedianFilter(T) template class PCL_EXPORTS pcl::MedianFilter<T>; 00118 #endif 00119 #endif /* PCL_FILTERS_MEDIAN_FILTER_H_ */