Point Cloud Library (PCL)
1.14.1-dev
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Implementation of a fast bilateral filter for smoothing depth information in organized point clouds Based on the following paper: More...
#include <pcl/filters/fast_bilateral_omp.h>
Public Types | |
using | Ptr = shared_ptr< FastBilateralFilterOMP< PointT > > |
using | ConstPtr = shared_ptr< const FastBilateralFilterOMP< PointT > > |
Public Types inherited from pcl::FastBilateralFilter< PointT > | |
using | Ptr = shared_ptr< FastBilateralFilter< PointT > > |
using | ConstPtr = shared_ptr< const FastBilateralFilter< 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 | |
FastBilateralFilterOMP (unsigned int nr_threads=0) | |
Empty constructor. More... | |
void | setNumberOfThreads (unsigned int nr_threads=0) |
Initialize the scheduler and set the number of threads to use. More... | |
void | applyFilter (PointCloud &output) override |
Filter the input data and store the results into output. More... | |
Public Member Functions inherited from pcl::FastBilateralFilter< PointT > | |
FastBilateralFilter ()=default | |
Empty constructor. More... | |
~FastBilateralFilter () override=default | |
Empty destructor. More... | |
void | setSigmaS (float sigma_s) |
Set the standard deviation of the Gaussian used by the bilateral filter for the spatial neighborhood/window. More... | |
float | getSigmaS () const |
Get the size of the Gaussian bilateral filter window as set by the user. More... | |
void | setSigmaR (float sigma_r) |
Set the standard deviation of the Gaussian used to control how much an adjacent pixel is downweighted because of the intensity difference (depth in our case). More... | |
float | getSigmaR () const |
Get the standard deviation of the Gaussian for the intensity difference. 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 Types | |
using | Array3D = typename FastBilateralFilter< PointT >::Array3D |
using | PointCloud = typename Filter< PointT >::PointCloud |
Protected Types inherited from pcl::FastBilateralFilter< PointT > | |
using | PointCloud = typename Filter< PointT >::PointCloud |
Protected Attributes | |
unsigned int | threads_ |
The number of threads the scheduler should use. More... | |
Protected Attributes inherited from pcl::FastBilateralFilter< PointT > | |
float | sigma_s_ {15.0f} |
float | sigma_r_ {0.05f} |
bool | early_division_ {false} |
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... | |
Additional Inherited Members | |
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... | |
Implementation of a fast bilateral filter for smoothing depth information in organized point clouds Based on the following paper:
More details on the webpage: http://people.csail.mit.edu/sparis/bf/
Definition at line 57 of file fast_bilateral_omp.h.
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protected |
Definition at line 64 of file fast_bilateral_omp.h.
using pcl::FastBilateralFilterOMP< PointT >::ConstPtr = shared_ptr<const FastBilateralFilterOMP<PointT> > |
Definition at line 71 of file fast_bilateral_omp.h.
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protected |
Definition at line 66 of file fast_bilateral_omp.h.
using pcl::FastBilateralFilterOMP< PointT >::Ptr = shared_ptr<FastBilateralFilterOMP<PointT> > |
Definition at line 70 of file fast_bilateral_omp.h.
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inline |
Empty constructor.
Definition at line 74 of file fast_bilateral_omp.h.
References pcl::FastBilateralFilterOMP< PointT >::setNumberOfThreads().
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overridevirtual |
Filter the input data and store the results into output.
[out] | output | the resultant point cloud |
Reimplemented from pcl::FastBilateralFilter< PointT >.
Definition at line 62 of file fast_bilateral_omp.hpp.
References pcl::PointCloud< PointT >::at(), pcl::copyPointCloud(), and pcl::PointCloud< PointT >::size().
void pcl::FastBilateralFilterOMP< PointT >::setNumberOfThreads | ( | unsigned int | nr_threads = 0 | ) |
Initialize the scheduler and set the number of threads to use.
nr_threads | the number of hardware threads to use (0 sets the value back to automatic) |
Definition at line 48 of file fast_bilateral_omp.hpp.
Referenced by pcl::FastBilateralFilterOMP< PointT >::FastBilateralFilterOMP().
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protected |
The number of threads the scheduler should use.
Definition at line 93 of file fast_bilateral_omp.h.