Implementation of a fast bilateral filter for smoothing depth information in organized point clouds Based on the following paper: * Sylvain Paris and FrŽdo Durand "A Fast Approximation of the Bilateral Filter using a Signal Processing Approach" European Conference on Computer Vision (ECCV'06) More...
#include <fast_bilateral.h>
Classes | |
| class | Array3D |
Public Types | |
| typedef boost::shared_ptr < const FastBilateralFilter < PointT > > | ConstPtr |
| typedef boost::shared_ptr < FastBilateralFilter< PointT > > | Ptr |
Public Member Functions | |
| virtual void | applyFilter (PointCloud &output) |
| Filter the input data and store the results into output. | |
| FastBilateralFilter () | |
| Empty constructor. | |
| float | getSigmaR () const |
| Get the standard deviation of the Gaussian for the intensity difference. | |
| float | getSigmaS () const |
| Get the size of the Gaussian bilateral filter window as set by the user. | |
| void | setSigmaR (float sigma_r) |
| Set the standard deviation of the Gaussian used to control how much an adjacent pixel is downweighted because of the intensity difference (depth in our case). | |
| void | setSigmaS (float sigma_s) |
| Set the standard deviation of the Gaussian used by the bilateral filter for the spatial neighborhood/window. | |
| virtual | ~FastBilateralFilter () |
| Empty destructor. | |
Protected Types | |
| typedef Filter< PointT > ::PointCloud | PointCloud |
Protected Attributes | |
| bool | early_division_ |
| float | sigma_r_ |
| float | sigma_s_ |
Detailed Description
template<typename PointT>
class pcl::FastBilateralFilter< PointT >
Implementation of a fast bilateral filter for smoothing depth information in organized point clouds Based on the following paper: * Sylvain Paris and FrŽdo Durand "A Fast Approximation of the Bilateral Filter using a Signal Processing Approach" European Conference on Computer Vision (ECCV'06)
More details on the webpage: http://people.csail.mit.edu/sparis/bf/
Definition at line 58 of file fast_bilateral.h.
Member Typedef Documentation
| typedef boost::shared_ptr< const FastBilateralFilter<PointT> > pcl::FastBilateralFilter< PointT >::ConstPtr |
Reimplemented from pcl::Filter< PointT >.
Reimplemented in pcl::FastBilateralFilterOMP< PointT >.
Definition at line 67 of file fast_bilateral.h.
typedef Filter<PointT>::PointCloud pcl::FastBilateralFilter< PointT >::PointCloud [protected] |
Reimplemented from pcl::Filter< PointT >.
Reimplemented in pcl::FastBilateralFilterOMP< PointT >.
Definition at line 62 of file fast_bilateral.h.
| typedef boost::shared_ptr< FastBilateralFilter<PointT> > pcl::FastBilateralFilter< PointT >::Ptr |
Reimplemented from pcl::Filter< PointT >.
Reimplemented in pcl::FastBilateralFilterOMP< PointT >.
Definition at line 66 of file fast_bilateral.h.
Constructor & Destructor Documentation
| pcl::FastBilateralFilter< PointT >::FastBilateralFilter | ( | ) | [inline] |
Empty constructor.
Definition at line 70 of file fast_bilateral.h.
| virtual pcl::FastBilateralFilter< PointT >::~FastBilateralFilter | ( | ) | [inline, virtual] |
Empty destructor.
Definition at line 77 of file fast_bilateral.h.
Member Function Documentation
| void pcl::FastBilateralFilter< PointT >::applyFilter | ( | PointCloud & | output | ) | [virtual] |
Filter the input data and store the results into output.
- Parameters:
-
[out] output the resultant point cloud
Implements pcl::Filter< PointT >.
Reimplemented in pcl::FastBilateralFilterOMP< PointT >.
Definition at line 47 of file fast_bilateral.hpp.
| float pcl::FastBilateralFilter< PointT >::getSigmaR | ( | ) | const [inline] |
Get the standard deviation of the Gaussian for the intensity difference.
Definition at line 103 of file fast_bilateral.h.
| float pcl::FastBilateralFilter< PointT >::getSigmaS | ( | ) | const [inline] |
Get the size of the Gaussian bilateral filter window as set by the user.
Definition at line 89 of file fast_bilateral.h.
| void pcl::FastBilateralFilter< PointT >::setSigmaR | ( | float | sigma_r | ) | [inline] |
Set the standard deviation of the Gaussian used to control how much an adjacent pixel is downweighted because of the intensity difference (depth in our case).
- Parameters:
-
[in] sigma_r the standard deviation of the Gaussian for the intensity difference
Definition at line 98 of file fast_bilateral.h.
| void pcl::FastBilateralFilter< PointT >::setSigmaS | ( | float | sigma_s | ) | [inline] |
Set the standard deviation of the Gaussian used by the bilateral filter for the spatial neighborhood/window.
- Parameters:
-
[in] sigma_s the size of the Gaussian bilateral filter window to use
Definition at line 84 of file fast_bilateral.h.
Member Data Documentation
bool pcl::FastBilateralFilter< PointT >::early_division_ [protected] |
Definition at line 115 of file fast_bilateral.h.
float pcl::FastBilateralFilter< PointT >::sigma_r_ [protected] |
Definition at line 114 of file fast_bilateral.h.
float pcl::FastBilateralFilter< PointT >::sigma_s_ [protected] |
Definition at line 113 of file fast_bilateral.h.
The documentation for this class was generated from the following files: