Point Cloud Library (PCL)
1.7.0
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A bilateral filter implementation for point cloud data. More...
#include <pcl/filters/bilateral.h>
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. |
A bilateral filter implementation for point cloud data.
Uses the intensity data channel.
Definition at line 57 of file bilateral.h.
typedef boost::shared_ptr< const BilateralFilter<PointT> > pcl::BilateralFilter< PointT >::ConstPtr |
Reimplemented from pcl::Filter< PointT >.
Definition at line 67 of file bilateral.h.
typedef boost::shared_ptr< BilateralFilter<PointT> > pcl::BilateralFilter< PointT >::Ptr |
Reimplemented from pcl::Filter< PointT >.
Definition at line 66 of file bilateral.h.
pcl::BilateralFilter< PointT >::BilateralFilter | ( | ) | [inline] |
void pcl::BilateralFilter< PointT >::applyFilter | ( | PointCloud & | output | ) | [virtual] |
Filter the input data and store the results into output.
[out] | output | the resultant point cloud message |
Implements pcl::Filter< PointT >.
Definition at line 73 of file bilateral.hpp.
References pcl::PointCloud< PointT >::points.
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.
[in] | pid | the point index to compute the weight for |
[in] | indices | the set of nearest neighor indices |
[in] | distances | the set of nearest neighbor distances |
Definition at line 47 of file bilateral.hpp.
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.
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.
void pcl::BilateralFilter< PointT >::setHalfSize | ( | const double | sigma_s | ) | [inline] |
Set the half size of the Gaussian bilateral filter window.
[in] | sigma_s | the half size of the Gaussian bilateral filter window to use |
Definition at line 99 of file bilateral.h.
void pcl::BilateralFilter< PointT >::setSearchMethod | ( | const KdTreePtr & | tree | ) | [inline] |
Provide a pointer to the search object.
[in] | tree | a pointer to the spatial search object. |
Definition at line 123 of file bilateral.h.
void pcl::BilateralFilter< PointT >::setStdDev | ( | const double | sigma_r | ) | [inline] |
Set the standard deviation parameter.
[in] | sigma_r | the new standard deviation parameter |
Definition at line 111 of file bilateral.h.