bilateral.h

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#ifndef PCL_FILTERS_BILATERAL_H_
#define PCL_FILTERS_BILATERAL_H_

#include <pcl/filters/filter.h>
#include <pcl/search/pcl_search.h>

namespace pcl
{
  template<typename PointT>
  class BilateralFilter : public Filter<PointT>
  {
    using Filter<PointT>::input_;
    using Filter<PointT>::indices_;
    typedef typename Filter<PointT>::PointCloud PointCloud;
    typedef typename pcl::search::Search<PointT>::Ptr KdTreePtr;

    public:

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

      BilateralFilter () : sigma_s_ (0), 
                           sigma_r_ (std::numeric_limits<double>::max ()),
                           tree_ ()
      {
      }


      void
      applyFilter (PointCloud &output);

      double 
      computePointWeight (const int pid, const std::vector<int> &indices, const std::vector<float> &distances);

      inline void 
      setHalfSize (const double sigma_s)
      { sigma_s_ = sigma_s; }

      inline double
      getHalfSize () const
      { return (sigma_s_); }

      inline void
      setStdDev (const double sigma_r)
      { sigma_r_ = sigma_r;}

      inline double
      getStdDev () const
      { return (sigma_r_); }

      inline void
      setSearchMethod (const KdTreePtr &tree)
      { tree_ = tree; }

    private:

      inline double
      kernel (double x, double sigma)
      { return (exp (- (x*x)/(2*sigma*sigma))); }

      double sigma_s_;
      double sigma_r_;

      KdTreePtr tree_;
  };
}

#ifdef PCL_NO_PRECOMPILE
#include <pcl/filters/impl/bilateral.hpp>
#endif

#endif // PCL_FILTERS_BILATERAL_H_