Point Cloud Library (PCL)
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include
pcl
filters
fast_bilateral_omp.h
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/*
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* Software License Agreement (BSD License)
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*
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* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2012-, Open Perception, Inc.
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* Copyright (c) 2004, Sylvain Paris and Francois Sillion
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* All rights reserved.
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder(s) nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* $Id: fast_bilateral_omp.h 8379 2013-01-02 23:12:21Z sdmiller $
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*
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*/
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#ifndef PCL_FILTERS_FAST_BILATERAL_OMP_H_
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#define PCL_FILTERS_FAST_BILATERAL_OMP_H_
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#include <pcl/filters/filter.h>
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#include <pcl/filters/fast_bilateral.h>
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namespace
pcl
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{
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/** \brief Implementation of a fast bilateral filter for smoothing depth information in organized point clouds
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* Based on the following paper:
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* * Sylvain Paris and Frdo Durand
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* "A Fast Approximation of the Bilateral Filter using a Signal Processing Approach"
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* European Conference on Computer Vision (ECCV'06)
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*
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* More details on the webpage: http://people.csail.mit.edu/sparis/bf/
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*/
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template
<
typename
Po
int
T>
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class
FastBilateralFilterOMP
:
public
FastBilateralFilter
<PointT>
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{
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protected
:
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using
FastBilateralFilter<PointT>::input_
;
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using
FastBilateralFilter<PointT>::sigma_s_
;
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using
FastBilateralFilter<PointT>::sigma_r_
;
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using
FastBilateralFilter<PointT>::early_division_
;
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typedef
typename
FastBilateralFilter<PointT>::Array3D
Array3D
;
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typedef
typename
Filter<PointT>::PointCloud
PointCloud
;
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public
:
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typedef
boost::shared_ptr< FastBilateralFilterOMP<PointT> >
Ptr
;
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typedef
boost::shared_ptr< const FastBilateralFilterOMP<PointT> >
ConstPtr
;
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/** \brief Empty constructor. */
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FastBilateralFilterOMP
(
unsigned
int
nr_threads = 0)
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:
threads_
(nr_threads)
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{ }
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/** \brief Initialize the scheduler and set the number of threads to use.
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* \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
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*/
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inline
void
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setNumberOfThreads
(
unsigned
int
nr_threads = 0) {
threads_
= nr_threads; }
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/** \brief Filter the input data and store the results into output.
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* \param[out] output the resultant point cloud
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*/
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void
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applyFilter
(
PointCloud
&output);
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protected
:
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/** \brief The number of threads the scheduler should use. */
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unsigned
int
threads_
;
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};
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}
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#ifdef PCL_NO_PRECOMPILE
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#include <pcl/filters/impl/fast_bilateral_omp.hpp>
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#else
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#define PCL_INSTANTIATE_FastBilateralFilterOMP(T) template class PCL_EXPORTS pcl::FastBilateralFilterOMP<T>;
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#endif
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#endif
/* PCL_FILTERS_FAST_BILATERAL_OMP_H_ */
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