Implementation of the median filter. The median filter is one of the simplest and wide-spread image processing filters. It is known to perform well with "shot"/impulse noise (some individual pixels having extreme values), it does not reduce contrast across steps in the function (as compared to filters based on averaging), and it is robust to outliers. Furthermore, it is simple to implement and efficient, as it requires a single pass over the image. It consists of a moving window of fixed size that replaces the pixel in the center with the median inside the window. More...
#include <median_filter.h>
Public Member Functions | |
| void | applyFilter (PointCloud &output) |
| Filter the input data and store the results into output. | |
| float | getMaxAllowedMovement () const |
| Get the maximum distance one point is allowed to move along the z-axis. | |
| int | getWindowSize () const |
| Get the window size of the filter. | |
| MedianFilter () | |
| Empty constructor. | |
| void | setMaxAllowedMovement (float max_allowed_movement) |
| Set the largest value one dexel is allowed to move. | |
| void | setWindowSize (int window_size) |
| Set the window size of the filter. | |
Protected Attributes | |
| float | max_allowed_movement_ |
| int | window_size_ |
Private Types | |
| typedef pcl::Filter< PointT > ::PointCloud | PointCloud |
Detailed Description
template<typename PointT>
class pcl::MedianFilter< PointT >
Implementation of the median filter. The median filter is one of the simplest and wide-spread image processing filters. It is known to perform well with "shot"/impulse noise (some individual pixels having extreme values), it does not reduce contrast across steps in the function (as compared to filters based on averaging), and it is robust to outliers. Furthermore, it is simple to implement and efficient, as it requires a single pass over the image. It consists of a moving window of fixed size that replaces the pixel in the center with the median inside the window.
- Note:
- This algorithm filters only the depth (z-component) of _organized_ and untransformed (i.e., in camera coordinates) point clouds. An error will be outputted if an unorganized cloud is given to the class instance.
Definition at line 62 of file median_filter.h.
Member Typedef Documentation
typedef pcl::Filter<PointT>::PointCloud pcl::MedianFilter< PointT >::PointCloud [private] |
Reimplemented from pcl::Filter< PointT >.
Definition at line 65 of file median_filter.h.
Constructor & Destructor Documentation
| pcl::MedianFilter< PointT >::MedianFilter | ( | ) | [inline] |
Empty constructor.
Definition at line 69 of file median_filter.h.
Member Function Documentation
| void pcl::MedianFilter< PointT >::applyFilter | ( | PointCloud & | output | ) | [virtual] |
Filter the input data and store the results into output.
- Parameters:
-
[out] output the result point cloud
Implements pcl::Filter< PointT >.
Definition at line 47 of file median_filter.hpp.
| float pcl::MedianFilter< PointT >::getMaxAllowedMovement | ( | ) | const [inline] |
Get the maximum distance one point is allowed to move along the z-axis.
- Returns:
- the maximum distance a dexel is allowed to move
Definition at line 99 of file median_filter.h.
| int pcl::MedianFilter< PointT >::getWindowSize | ( | ) | const [inline] |
Get the window size of the filter.
- Returns:
- the window size of the filter
Definition at line 85 of file median_filter.h.
| void pcl::MedianFilter< PointT >::setMaxAllowedMovement | ( | float | max_allowed_movement | ) | [inline] |
Set the largest value one dexel is allowed to move.
- Parameters:
-
[in] max_allowed_movement maximum value a dexel is allowed to move during filtering
Definition at line 92 of file median_filter.h.
| void pcl::MedianFilter< PointT >::setWindowSize | ( | int | window_size | ) | [inline] |
Set the window size of the filter.
- Parameters:
-
[in] window_size the new window size
Definition at line 78 of file median_filter.h.
Member Data Documentation
float pcl::MedianFilter< PointT >::max_allowed_movement_ [protected] |
Definition at line 110 of file median_filter.h.
int pcl::MedianFilter< PointT >::window_size_ [protected] |
Definition at line 109 of file median_filter.h.
The documentation for this class was generated from the following files: