Point Cloud Library (PCL)
1.7.2
|
A bilateral filter implementation for point cloud data. More...
#include <pcl/filters/bilateral.h>
Public Types | |
typedef boost::shared_ptr < BilateralFilter< PointT > > | Ptr |
typedef boost::shared_ptr < const BilateralFilter < PointT > > | ConstPtr |
![]() | |
typedef boost::shared_ptr < Filter< PointT > > | Ptr |
typedef boost::shared_ptr < const Filter< PointT > > | ConstPtr |
typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
![]() | |
typedef pcl::PointCloud< PointT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr < PointIndices const > | PointIndicesConstPtr |
Public Member Functions | |
BilateralFilter () | |
Constructor. More... | |
void | applyFilter (PointCloud &output) |
Filter the input data and store the results into output. More... | |
double | computePointWeight (const int pid, const std::vector< int > &indices, const std::vector< float > &distances) |
Compute the intensity average for a single point. More... | |
void | setHalfSize (const double sigma_s) |
Set the half size of the Gaussian bilateral filter window. More... | |
double | getHalfSize () const |
Get the half size of the Gaussian bilateral filter window as set by the user. More... | |
void | setStdDev (const double sigma_r) |
Set the standard deviation parameter. More... | |
double | getStdDev () const |
Get the value of the current standard deviation parameter of the bilateral filter. More... | |
void | setSearchMethod (const KdTreePtr &tree) |
Provide a pointer to the search object. More... | |
![]() | |
Filter (bool extract_removed_indices=false) | |
Empty constructor. More... | |
virtual | ~Filter () |
Empty destructor. More... | |
IndicesConstPtr const | getRemovedIndices () |
Get the point indices being removed. More... | |
void | getRemovedIndices (PointIndices &pi) |
Get the point indices being removed. More... | |
void | filter (PointCloud &output) |
Calls the filtering method and returns the filtered dataset in output. More... | |
![]() | |
PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () const |
Get a pointer to the input point cloud dataset. More... | |
virtual void | setIndices (const IndicesPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const IndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (const PointIndicesConstPtr &indices) |
Provide a pointer to the vector of indices that represents the input data. More... | |
virtual void | setIndices (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
IndicesConstPtr const | getIndices () const |
Get a pointer to the vector of indices used. More... | |
const PointT & | operator[] (size_t pos) const |
Override PointCloud operator[] to shorten code. More... | |
Additional Inherited Members | |
![]() | |
const std::string & | getClassName () const |
Get a string representation of the name of this class. More... | |
![]() | |
bool | initCompute () |
This method should get called before starting the actual computation. More... | |
bool | deinitCompute () |
This method should get called after finishing the actual computation. More... | |
![]() | |
IndicesPtr | removed_indices_ |
Indices of the points that are removed. More... | |
std::string | filter_name_ |
The filter name. More... | |
bool | extract_removed_indices_ |
Set to true if we want to return the indices of the removed points. More... | |
![]() | |
PointCloudConstPtr | input_ |
The input point cloud dataset. More... | |
IndicesPtr | indices_ |
A pointer to the vector of point indices to use. More... | |
bool | use_indices_ |
Set to true if point indices are used. More... | |
bool | fake_indices_ |
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... | |
A bilateral filter implementation for point cloud data.
Uses the intensity data channel.
Definition at line 57 of file bilateral.h.
typedef boost::shared_ptr< const BilateralFilter<PointT> > pcl::BilateralFilter< PointT >::ConstPtr |
Definition at line 67 of file bilateral.h.
typedef boost::shared_ptr< BilateralFilter<PointT> > pcl::BilateralFilter< PointT >::Ptr |
Definition at line 66 of file bilateral.h.
|
inline |
|
virtual |
Filter the input data and store the results into output.
[out] | output | the resultant point cloud message |
Implements pcl::Filter< PointT >.
Definition at line 73 of file bilateral.hpp.
References pcl::PointCloud< T >::points.
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.
[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 |
Definition at line 47 of file bilateral.hpp.
|
inline |
Get the half size of the Gaussian bilateral filter window as set by the user.
Definition at line 104 of file bilateral.h.
|
inline |
Get the value of the current standard deviation parameter of the bilateral filter.
Definition at line 116 of file bilateral.h.
|
inline |
Set the half size of the Gaussian bilateral filter window.
[in] | sigma_s | the half size of the Gaussian bilateral filter window to use |
Definition at line 99 of file bilateral.h.
|
inline |
Provide a pointer to the search object.
[in] | tree | a pointer to the spatial search object. |
Definition at line 123 of file bilateral.h.
|
inline |
Set the standard deviation parameter.
[in] | sigma_r | the new standard deviation parameter |
Definition at line 111 of file bilateral.h.