A bilateral filter implementation for point cloud data. Uses the intensity data channel. More...
#include <bilateral.h>
Public Types | |
| typedef boost::shared_ptr < const BilateralFilter < PointT > > | ConstPtr |
| typedef boost::shared_ptr < BilateralFilter< PointT > > | Ptr |
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 () const |
| Get the half size of the Gaussian bilateral filter window as set by the user. | |
| double | getStdDev () const |
| 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.
Definition at line 57 of file bilateral.h.
Member Typedef Documentation
| 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 pcl::search::Search<PointT>::Ptr pcl::BilateralFilter< PointT >::KdTreePtr [private] |
Definition at line 62 of file bilateral.h.
typedef Filter<PointT>::PointCloud pcl::BilateralFilter< PointT >::PointCloud [private] |
Reimplemented from pcl::Filter< PointT >.
Definition at line 61 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.
Constructor & Destructor Documentation
| pcl::BilateralFilter< PointT >::BilateralFilter | ( | ) | [inline] |
Constructor. Sets sigma_s_ to 0 and sigma_r_ to MAXDBL.
Definition at line 73 of file bilateral.h.
Member Function Documentation
| 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 73 of file bilateral.hpp.
| 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 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.
| 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 133 of file bilateral.h.
| 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 99 of file bilateral.h.
| 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 123 of file bilateral.h.
| 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 111 of file bilateral.h.
Member Data Documentation
double pcl::BilateralFilter< PointT >::sigma_r_ [private] |
The standard deviation of the bilateral filter (e.g., standard deviation in intensity).
Definition at line 139 of file bilateral.h.
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 137 of file bilateral.h.
KdTreePtr pcl::BilateralFilter< PointT >::tree_ [private] |
A pointer to the spatial search object.
Definition at line 142 of file bilateral.h.
The documentation for this class was generated from the following files: