A bilateral filter implementation for point cloud data. Uses the intensity data channel. More...

#include <bilateral.h>

Inheritance diagram for pcl::BilateralFilter< PointT >:

Public Member Functions
void	applyFilter (PointCloud &output)
	Filter the input data and store the results into output.
	BilateralFilter ()
	Constructor. Sets sigma_s_ to 0 and sigma_r_ to MAXDBL.
double	computePointWeight (const int pid, const std::vector< int > &indices, const std::vector< float > &distances)
	Compute the intensity average for a single point.
double	getHalfSize ()
	Get the half size of the Gaussian bilateral filter window as set by the user.
double	getStdDev ()
	Get the value of the current standard deviation parameter of the bilateral filter.
void	setHalfSize (const double sigma_s)
	Set the half size of the Gaussian bilateral filter window.
void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object.
void	setStdDev (const double sigma_r)
	Set the standard deviation parameter.
Private Types
typedef pcl::search::Search < PointT >::Ptr	KdTreePtr
typedef Filter< PointT > ::PointCloud	PointCloud
Private Member Functions
double	kernel (double x, double sigma)
	The bilateral filter Gaussian distance kernel.
Private Attributes
double	sigma_r_
	The standard deviation of the bilateral filter (e.g., standard deviation in intensity).
double	sigma_s_
	The half size of the Gaussian bilateral filter window (e.g., spatial extents in Euclidean).
KdTreePtr	tree_
	A pointer to the spatial 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 55 of file bilateral.h.

Member Typedef Documentation

template<typename PointT >

typedef pcl::search::Search<PointT>::Ptr pcl::BilateralFilter< PointT >::KdTreePtr [private]

Definition at line 60 of file bilateral.h.

template<typename PointT >

typedef Filter<PointT>::PointCloud pcl::BilateralFilter< PointT >::PointCloud [private]

Reimplemented from pcl::Filter< PointT >.

Definition at line 59 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 66 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] output the resultant point cloud message

Implements pcl::Filter< PointT >.

Definition at line 71 of file bilateral.hpp.

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]	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

Returns:: the intensity average at a given point index

Definition at line 45 of file bilateral.hpp.

template<typename PointT >

double pcl::BilateralFilter< PointT >::getHalfSize ( ) [inline]

Get the half size of the Gaussian bilateral filter window as set by the user.

Definition at line 99 of file bilateral.h.

template<typename PointT >

double pcl::BilateralFilter< PointT >::getStdDev ( ) [inline]

Get the value of the current standard deviation parameter of the bilateral filter.

Definition at line 115 of file bilateral.h.

template<typename PointT >

double pcl::BilateralFilter< PointT >::kernel	(	double	x,
		double	sigma
	)		`[inline, private]`

The bilateral filter Gaussian distance kernel.

Parameters:

[in]	x	the spatial distance (distance or intensity)
[in]	sigma	standard deviation

Definition at line 136 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_s the half size of the Gaussian bilateral filter window to use

Definition at line 92 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] tree a pointer to the spatial search object.

Definition at line 124 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_r the new standard deviation parameter

Definition at line 108 of file bilateral.h.

Member Data Documentation

template<typename PointT >

double pcl::BilateralFilter< PointT >::sigma_r_ [private]

The standard deviation of the bilateral filter (e.g., standard deviation in intensity).

Definition at line 144 of file bilateral.h.

template<typename PointT >

double pcl::BilateralFilter< PointT >::sigma_s_ [private]

The half size of the Gaussian bilateral filter window (e.g., spatial extents in Euclidean).

Definition at line 142 of file bilateral.h.

template<typename PointT >

KdTreePtr pcl::BilateralFilter< PointT >::tree_ [private]

A pointer to the spatial search object.

Definition at line 147 of file bilateral.h.

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

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

template<typename PointT> class pcl::BilateralFilter< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

template<typename PointT>
class pcl::BilateralFilter< PointT >