Point Cloud Library (PCL)  1.7.0
Classes | Public Types | Public Member Functions | Protected Types | Protected Attributes
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: * Sylvain Paris and FrŽdo Durand "A Fast Approximation of the Bilateral Filter using a Signal Processing Approach" European Conference on Computer Vision (ECCV'06) More...

#include <pcl/filters/fast_bilateral.h>

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

List of all members.

Classes

class  Array3D

Public Types

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

Public Member Functions

 FastBilateralFilter ()
 Empty constructor.
virtual ~FastBilateralFilter ()
 Empty destructor.
void setSigmaS (float sigma_s)
 Set the standard deviation of the Gaussian used by the bilateral filter for the spatial neighborhood/window.
float getSigmaS () const
 Get the size of the Gaussian bilateral filter window as set by the user.
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).
float getSigmaR () const
 Get the standard deviation of the Gaussian for the intensity difference.
virtual void applyFilter (PointCloud &output)
 Filter the input data and store the results into output.

Protected Types

typedef Filter< PointT >
::PointCloud 
PointCloud

Protected Attributes

float sigma_s_
float sigma_r_
bool early_division_

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: * Sylvain Paris and FrŽdo Durand "A Fast Approximation of the Bilateral Filter using a Signal Processing Approach" European Conference on Computer Vision (ECCV'06)

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

Definition at line 58 of file fast_bilateral.h.


Member Typedef Documentation

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

Reimplemented from pcl::Filter< PointT >.

Reimplemented in pcl::FastBilateralFilterOMP< PointT >.

Definition at line 67 of file fast_bilateral.h.

template<typename PointT >
typedef Filter<PointT>::PointCloud pcl::FastBilateralFilter< PointT >::PointCloud [protected]

Reimplemented from pcl::Filter< PointT >.

Reimplemented in pcl::FastBilateralFilterOMP< PointT >.

Definition at line 62 of file fast_bilateral.h.

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

Reimplemented from pcl::Filter< PointT >.

Reimplemented in pcl::FastBilateralFilterOMP< PointT >.

Definition at line 66 of file fast_bilateral.h.


Constructor & Destructor Documentation

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

Empty constructor.

Definition at line 70 of file fast_bilateral.h.

template<typename PointT >
virtual pcl::FastBilateralFilter< PointT >::~FastBilateralFilter ( ) [inline, virtual]

Empty destructor.

Definition at line 77 of file fast_bilateral.h.


Member Function Documentation

template<typename PointT >
void pcl::FastBilateralFilter< PointT >::applyFilter ( PointCloud output) [virtual]
template<typename PointT >
float pcl::FastBilateralFilter< PointT >::getSigmaR ( ) const [inline]

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

Definition at line 103 of file fast_bilateral.h.

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

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 89 of file fast_bilateral.h.

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

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 98 of file fast_bilateral.h.

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

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 84 of file fast_bilateral.h.

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


Member Data Documentation

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

Definition at line 115 of file fast_bilateral.h.

template<typename PointT >
float pcl::FastBilateralFilter< PointT >::sigma_r_ [protected]
template<typename PointT >
float pcl::FastBilateralFilter< PointT >::sigma_s_ [protected]

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