pcl::BilateralFilter< PointT > Class Template Reference
[Module filters]

A bilateral filter implementation for point cloud data. More...

#include <pcl/filters/bilateral.h>

Inheritance diagram for pcl::BilateralFilter< PointT >:

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Collaboration diagram for pcl::BilateralFilter< PointT >:

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List of all members.

Public Types
typedef boost::shared_ptr < BilateralFilter< PointT > >	Ptr
typedef boost::shared_ptr < const BilateralFilter < PointT > >	ConstPtr
Public Member Functions
	BilateralFilter ()
	Constructor.
void	applyFilter (PointCloud &output)
	Filter the input data and store the results into output.
double	computePointWeight (const int pid, const std::vector< int > &indices, const std::vector< float > &distances)
	Compute the intensity average for a single point.
void	setHalfSize (const double sigma_s)
	Set the half size of the Gaussian bilateral filter window.
double	getHalfSize () const
	Get the half size of the Gaussian bilateral filter window as set by the user.
void	setStdDev (const double sigma_r)
	Set the standard deviation parameter.
double	getStdDev () const
	Get the value of the current standard deviation parameter of the bilateral filter.
void	setSearchMethod (const KdTreePtr &tree)
	Provide a pointer to the search object.

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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 57 of file bilateral.h.

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Member Typedef Documentation

template<typename PointT >

typedef boost::shared_ptr< const BilateralFilter<PointT> > pcl::BilateralFilter< PointT >::ConstPtr

Reimplemented from pcl::Filter< PointT >.

Definition at line 67 of file bilateral.h.

template<typename PointT >

typedef boost::shared_ptr< BilateralFilter<PointT> > pcl::BilateralFilter< PointT >::Ptr

Reimplemented from pcl::Filter< PointT >.

Definition at line 66 of file bilateral.h.

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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 73 of file bilateral.h.

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Member Function Documentation

template<typename PointT >

void pcl::BilateralFilter< PointT >::applyFilter

(

PointCloud &

output

)

[inline, 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.

References pcl::BilateralFilter< PointT >::computePointWeight(), pcl::PCLBase< PointT >::indices_, pcl::PCLBase< PointT >::input_, and pcl::PointCloud< PointT >::points.

template<typename PointT >

double pcl::BilateralFilter< PointT >::computePointWeight	(	const int	pid,
		const std::vector< int > &	indices,
		const std::vector< float > &	distances
	)			[inline]

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.

References pcl::PCLBase< PointT >::input_.

Referenced by pcl::BilateralFilter< PointT >::applyFilter().

template<typename PointT >

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.

template<typename PointT >

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.

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 99 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 123 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 111 of file bilateral.h.

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

• /builddir/build/BUILD/pcl-pcl-1.7.1/filters/include/pcl/filters/bilateral.h
• /builddir/build/BUILD/pcl-pcl-1.7.1/filters/include/pcl/filters/impl/bilateral.hpp