Point Cloud Library (PCL)  1.12.1-dev
bilateral.h
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39 
40 #pragma once
41 
42 #include <pcl/filters/filter.h>
43 #include <pcl/search/search.h> // for Search
44 
45 namespace pcl
46 {
47  /** \brief A bilateral filter implementation for point cloud data. Uses the intensity data channel.
48  * \note For more information please see
49  * <b>C. Tomasi and R. Manduchi. Bilateral Filtering for Gray and Color Images.
50  * In Proceedings of the IEEE International Conference on Computer Vision,
51  * 1998.</b>
52  * \author Luca Penasa
53  * \ingroup filters
54  */
55  template<typename PointT>
56  class BilateralFilter : public Filter<PointT>
57  {
60  using PointCloud = typename Filter<PointT>::PointCloud;
61  using KdTreePtr = typename pcl::search::Search<PointT>::Ptr;
62 
63  public:
64 
65  using Ptr = shared_ptr<BilateralFilter<PointT> >;
66  using ConstPtr = shared_ptr<const BilateralFilter<PointT> >;
67 
68  /** \brief Constructor.
69  * Sets sigma_s_ to 0 and sigma_r_ to MAXDBL
70  */
71  BilateralFilter () : sigma_s_ (0),
72  sigma_r_ (std::numeric_limits<double>::max ()),
73  tree_ ()
74  {
75  }
76  /** \brief Compute the intensity average for a single point
77  * \param[in] pid the point index to compute the weight for
78  * \param[in] indices the set of nearest neighor indices
79  * \param[in] distances the set of nearest neighbor distances
80  * \return the intensity average at a given point index
81  */
82  double
83  computePointWeight (const int pid, const Indices &indices, const std::vector<float> &distances);
84 
85  /** \brief Set the half size of the Gaussian bilateral filter window.
86  * \param[in] sigma_s the half size of the Gaussian bilateral filter window to use
87  */
88  inline void
89  setHalfSize (const double sigma_s)
90  { sigma_s_ = sigma_s; }
91 
92  /** \brief Get the half size of the Gaussian bilateral filter window as set by the user. */
93  inline double
94  getHalfSize () const
95  { return (sigma_s_); }
96 
97  /** \brief Set the standard deviation parameter
98  * \param[in] sigma_r the new standard deviation parameter
99  */
100  inline void
101  setStdDev (const double sigma_r)
102  { sigma_r_ = sigma_r;}
103 
104  /** \brief Get the value of the current standard deviation parameter of the bilateral filter. */
105  inline double
106  getStdDev () const
107  { return (sigma_r_); }
108 
109  /** \brief Provide a pointer to the search object.
110  * \param[in] tree a pointer to the spatial search object.
111  */
112  inline void
113  setSearchMethod (const KdTreePtr &tree)
114  { tree_ = tree; }
115 
116  protected:
117  /** \brief Filter the input data and store the results into output
118  * \param[out] output the resultant point cloud message
119  */
120  void
121  applyFilter (PointCloud &output) override;
122 
123  private:
124  /** \brief The bilateral filter Gaussian distance kernel.
125  * \param[in] x the spatial distance (distance or intensity)
126  * \param[in] sigma standard deviation
127  */
128  inline double
129  kernel (double x, double sigma)
130  { return (std::exp (- (x*x)/(2*sigma*sigma))); }
131 
132  /** \brief The half size of the Gaussian bilateral filter window (e.g., spatial extents in Euclidean). */
133  double sigma_s_;
134  /** \brief The standard deviation of the bilateral filter (e.g., standard deviation in intensity). */
135  double sigma_r_;
136 
137  /** \brief A pointer to the spatial search object. */
138  KdTreePtr tree_;
139  };
140 }
141 
142 #ifdef PCL_NO_PRECOMPILE
143 #include <pcl/filters/impl/bilateral.hpp>
144 #endif
A bilateral filter implementation for point cloud data.
Definition: bilateral.h:57
shared_ptr< BilateralFilter< PointT > > Ptr
Definition: bilateral.h:65
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
Definition: bilateral.h:113
double getStdDev() const
Get the value of the current standard deviation parameter of the bilateral filter.
Definition: bilateral.h:106
shared_ptr< const BilateralFilter< PointT > > ConstPtr
Definition: bilateral.h:66
BilateralFilter()
Constructor.
Definition: bilateral.h:71
double getHalfSize() const
Get the half size of the Gaussian bilateral filter window as set by the user.
Definition: bilateral.h:94
void applyFilter(PointCloud &output) override
Filter the input data and store the results into output.
Definition: bilateral.hpp:75
void setStdDev(const double sigma_r)
Set the standard deviation parameter.
Definition: bilateral.h:101
void setHalfSize(const double sigma_s)
Set the half size of the Gaussian bilateral filter window.
Definition: bilateral.h:89
double computePointWeight(const int pid, const Indices &indices, const std::vector< float > &distances)
Compute the intensity average for a single point.
Definition: bilateral.hpp:49
Filter represents the base filter class.
Definition: filter.h:81
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: point_cloud.h:173
shared_ptr< pcl::search::Search< PointT > > Ptr
Definition: search.h:81
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition: types.h:133