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
using	Ptr = shared_ptr< BilateralFilter< PointT > >

using	ConstPtr = shared_ptr< const BilateralFilter< PointT > >

Public Types inherited from pcl::Filter< PointT >
using	Ptr = shared_ptr< Filter< PointT > >

using	ConstPtr = shared_ptr< const Filter< PointT > >

using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

Public Types inherited from pcl::PCLBase< PointT >
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions
	BilateralFilter ()
	Constructor. More...

double	computePointWeight (const int pid, const Indices &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...

Public Member Functions inherited from pcl::Filter< PointT >
	Filter (bool extract_removed_indices=false)
	Empty constructor. More...

IndicesConstPtr const	getRemovedIndices () const
	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...

Public Member Functions inherited from pcl::PCLBase< PointT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr	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[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Member Functions
void	applyFilter (PointCloud &output) override
	Filter the input data and store the results into output. More...

Protected Member Functions inherited from pcl::Filter< PointT >
const std::string &	getClassName () const
	Get a string representation of the name of this class. More...

Protected Member Functions inherited from pcl::PCLBase< PointT >
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...

Additional Inherited Members
Protected Attributes inherited from pcl::Filter< PointT >
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...

Protected Attributes inherited from pcl::PCLBase< PointT >
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...

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 56 of file bilateral.h.

Member Typedef Documentation

◆ ConstPtr

template<typename PointT >

using pcl::BilateralFilter< PointT >::ConstPtr = shared_ptr<const BilateralFilter<PointT> >

Definition at line 66 of file bilateral.h.

◆ Ptr

template<typename PointT >

using pcl::BilateralFilter< PointT >::Ptr = shared_ptr<BilateralFilter<PointT> >

Definition at line 65 of file bilateral.h.

Constructor & Destructor Documentation

◆ BilateralFilter()

template<typename PointT >

pcl::BilateralFilter< PointT >::BilateralFilter ( )

inline

Constructor.

Sets sigma_s_ to 0 and sigma_r_ to MAXDBL

Definition at line 71 of file bilateral.h.

Member Function Documentation

◆ applyFilter()

template<typename PointT >

void pcl::BilateralFilter< PointT >::applyFilter ( PointCloud & output )

overrideprotectedvirtual

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 76 of file bilateral.hpp.

References pcl::isXYZFinite().

◆ computePointWeight()

template<typename PointT >

double pcl::BilateralFilter< PointT >::computePointWeight	(	const int	pid,
		const Indices &	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 neighbor indices
[in]	distances	the set of nearest neighbor distances

Returns: the intensity average at a given point index

Definition at line 50 of file bilateral.hpp.

◆ getHalfSize()

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 92 of file bilateral.h.

◆ getStdDev()

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 104 of file bilateral.h.

◆ setHalfSize()

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 87 of file bilateral.h.

◆ setSearchMethod()

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 111 of file bilateral.h.

◆ setStdDev()

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 99 of file bilateral.h.

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

pcl/filters/bilateral.h
pcl/filters/impl/bilateral.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ BilateralFilter()

Member Function Documentation

◆ applyFilter()

◆ computePointWeight()

◆ getHalfSize()

◆ getStdDev()

◆ setHalfSize()

◆ setSearchMethod()

◆ setStdDev()

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