Point Cloud Library (PCL)  1.7.0
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 >:

List of all members.

Public Types

typedef boost::shared_ptr
< BilateralFilter< PointT > > 
Ptr
typedef boost::shared_ptr
< const BilateralFilter
< PointT > > 
ConstPtr

Public Member Functions

 BilateralFilter ()
 Constructor.
void applyFilter (PointCloud &output)
 Filter the input data and store the results into output.
double computePointWeight (const int pid, const std::vector< int > &indices, const std::vector< float > &distances)
 Compute the intensity average for a single point.
void setHalfSize (const double sigma_s)
 Set the half size of the Gaussian bilateral filter window.
double getHalfSize () const
 Get the half size of the Gaussian bilateral filter window as set by the user.
void setStdDev (const double sigma_r)
 Set the standard deviation parameter.
double getStdDev () const
 Get the value of the current standard deviation parameter of the bilateral filter.
void setSearchMethod (const KdTreePtr &tree)
 Provide a pointer to the search object.

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

Reimplemented from pcl::Filter< PointT >.

Definition at line 67 of file bilateral.h.

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

Reimplemented from pcl::Filter< PointT >.

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< PointT >::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: