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

#include <pcl/filters/bilateral.h>

Inheritance diagram for pcl::BilateralFilter< PointT >:

Collaboration diagram for pcl::BilateralFilter< PointT >:

Public Types
typedef boost::shared_ptr < Filter< PointT > >	Ptr
typedef boost::shared_ptr < const Filter< PointT > >	ConstPtr
typedef PointCloud::Ptr	PointCloudPtr
typedef PointCloud::ConstPtr	PointCloudConstPtr
typedef PointIndices::Ptr	PointIndicesPtr
typedef PointIndices::ConstPtr	PointIndicesConstPtr
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 ()
	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 ()
	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.
IndicesConstPtr const	getRemovedIndices ()
	Get the point indices being removed.
void	filter (PointCloud &output)
	Calls the filtering method and returns the filtered dataset in output.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud ()
	Get a pointer to the input point cloud dataset.
void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
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.
IndicesPtr const	getIndices ()
	Get a pointer to the vector of indices used.
const PointT &	operator[] (size_t pos)
	Override PointCloud operator[] to shorten code.

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 55 of file bilateral.h.

Member Typedef Documentation

template<typename PointT>

typedef boost::shared_ptr< const Filter<PointT> > pcl::Filter< PointT >::ConstPtr [inherited]

Definition at line 76 of file filter.h.

template<typename PointT>

typedef PointCloud::ConstPtr pcl::Filter< PointT >::PointCloudConstPtr [inherited]

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 80 of file filter.h.

template<typename PointT>

typedef PointCloud::Ptr pcl::Filter< PointT >::PointCloudPtr [inherited]

Reimplemented from pcl::PCLBase< PointT >.

Definition at line 79 of file filter.h.

template<typename PointT>

typedef PointIndices::ConstPtr pcl::PCLBase< PointT >::PointIndicesConstPtr [inherited]

Reimplemented in pcl::EuclideanClusterExtraction< PointT >, pcl::ExtractPolygonalPrismData< PointT >, pcl::SegmentDifferences< PointT >, pcl::LabeledEuclideanClusterExtraction< PointT >, pcl::SampleConsensusInitialAlignment< PointSource, PointTarget, FeatureT >, and pcl::PCA< PointT >.

Definition at line 79 of file pcl_base.h.

template<typename PointT>

typedef PointIndices::Ptr pcl::PCLBase< PointT >::PointIndicesPtr [inherited]

Reimplemented in pcl::EuclideanClusterExtraction< PointT >, pcl::ExtractPolygonalPrismData< PointT >, pcl::SegmentDifferences< PointT >, pcl::LabeledEuclideanClusterExtraction< PointT >, pcl::SampleConsensusInitialAlignment< PointSource, PointTarget, FeatureT >, and pcl::PCA< PointT >.

Definition at line 78 of file pcl_base.h.

template<typename PointT>

typedef boost::shared_ptr< Filter<PointT> > pcl::Filter< PointT >::Ptr [inherited]

Definition at line 75 of file filter.h.

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 66 of file bilateral.h.

Member Function Documentation

template<typename PointT >

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 71 of file bilateral.hpp.

template<typename PointT >

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 45 of file bilateral.hpp.

template<typename PointT>

void pcl::Filter< PointT >::filter ( PointCloud & output ) [inline, inherited]

Calls the filtering method and returns the filtered dataset in output.

Parameters:

[out] output the resultant filtered point cloud dataset

Reimplemented in pcl::FilterIndices< PointT >.

Definition at line 104 of file filter.h.

template<typename PointT >

double pcl::BilateralFilter< PointT >::getHalfSize ( ) [inline]

Get the half size of the Gaussian bilateral filter window as set by the user.

Definition at line 99 of file bilateral.h.

template<typename PointT>

IndicesPtr const pcl::PCLBase< PointT >::getIndices ( ) [inline, inherited]

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

template<typename PointT>

PointCloudConstPtr const pcl::PCLBase< PointT >::getInputCloud ( ) [inline, inherited]

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

template<typename PointT>

IndicesConstPtr const pcl::Filter< PointT >::getRemovedIndices ( ) [inline, inherited]

Get the point indices being removed.

Reimplemented in pcl::FilterIndices< PointT >.

Definition at line 95 of file filter.h.

template<typename PointT >

double pcl::BilateralFilter< PointT >::getStdDev ( ) [inline]

Get the value of the current standard deviation parameter of the bilateral filter.

Definition at line 115 of file bilateral.h.

template<typename PointT>

const PointT& pcl::PCLBase< PointT >::operator[] ( size_t pos ) [inline, inherited]

Override PointCloud operator[] to shorten code.

Note:: this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]

Parameters:

pos	position in indices_ vector

Definition at line 197 of file pcl_base.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 92 of file bilateral.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const IndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices ( const PointIndicesConstPtr & indices ) [inline, inherited]

Provide a pointer to the vector of indices that represents the input data.

Parameters:

indices a pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

template<typename PointT>

void pcl::PCLBase< PointT >::setIndices	(	size_t	row_start,
		size_t	col_start,
		size_t	nb_rows,
		size_t	nb_cols
	)		`[inline, inherited]`

Set the indices for the points laying within an interest region of the point cloud.

Note:: you shouldn't call this method on unorganized point clouds!

Parameters:

row_start	the offset on rows
col_start	the offset on columns
nb_rows	the number of rows to be considered row_start included
nb_cols	the number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

template<typename PointT>

virtual void pcl::PCLBase< PointT >::setInputCloud ( const PointCloudConstPtr & cloud ) [inline, virtual, inherited]

Provide a pointer to the input dataset.

Parameters:

cloud the const boost shared pointer to a PointCloud message

Reimplemented in pcl::PCA< PointT >.

Definition at line 103 of file pcl_base.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 124 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 108 of file bilateral.h.

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

/usr/src/RPM/BUILD/PCL-1.6.0-Source/filters/include/pcl/filters/bilateral.h
/usr/src/RPM/BUILD/PCL-1.6.0-Source/filters/include/pcl/filters/impl/bilateral.hpp

Public Types

Public Member Functions

Detailed Description

template<typename PointT> class pcl::BilateralFilter< PointT >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

template<typename PointT>
class pcl::BilateralFilter< PointT >