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>

Inheritance diagram for pcl::FastBilateralFilterOMP< PointT >:

Collaboration diagram for pcl::FastBilateralFilterOMP< PointT >:

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...

Detailed Description

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

Implementation of a fast bilateral filter for smoothing depth information in organized point clouds Based on the following paper:

Sylvain Paris and Fredo Durand "A Fast Approximation of the Bilateral Filter using a Signal Processing Approach" European Conference on Computer Vision (ECCV'06)

More details on the webpage: http://people.csail.mit.edu/sparis/bf/

Definition at line 57 of file fast_bilateral_omp.h.

Member Typedef Documentation

◆ Array3D

template<typename PointT >

using pcl::FastBilateralFilterOMP< PointT >::Array3D = typename FastBilateralFilter<PointT>::Array3D

protected

Definition at line 64 of file fast_bilateral_omp.h.

◆ ConstPtr

template<typename PointT >

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

Definition at line 71 of file fast_bilateral_omp.h.

◆ PointCloud

template<typename PointT >

using pcl::FastBilateralFilterOMP< PointT >::PointCloud = typename Filter<PointT>::PointCloud

protected

Definition at line 66 of file fast_bilateral_omp.h.

◆ Ptr

template<typename PointT >

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

Definition at line 70 of file fast_bilateral_omp.h.

Constructor & Destructor Documentation

◆ FastBilateralFilterOMP()

template<typename PointT >

pcl::FastBilateralFilterOMP< PointT >::FastBilateralFilterOMP ( unsigned int nr_threads = 0 )

inline

Empty constructor.

Definition at line 74 of file fast_bilateral_omp.h.

References pcl::FastBilateralFilterOMP< PointT >::setNumberOfThreads().

Member Function Documentation

◆ applyFilter()

template<typename PointT >

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

overridevirtual

Filter the input data and store the results into output.

Parameters

[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().

◆ setNumberOfThreads()

template<typename PointT >

void pcl::FastBilateralFilterOMP< PointT >::setNumberOfThreads ( unsigned int nr_threads = 0 )

Initialize the scheduler and set the number of threads to use.

Parameters

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().

Member Data Documentation

◆ threads_

template<typename PointT >

unsigned int pcl::FastBilateralFilterOMP< PointT >::threads_

protected

The number of threads the scheduler should use.

Definition at line 93 of file fast_bilateral_omp.h.

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

pcl/filters/fast_bilateral_omp.h
pcl/filters/impl/fast_bilateral_omp.hpp

Public Types

Public Member Functions

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ Array3D

◆ ConstPtr

◆ PointCloud

◆ Ptr

Constructor & Destructor Documentation

◆ FastBilateralFilterOMP()

Member Function Documentation

◆ applyFilter()

◆ setNumberOfThreads()

Member Data Documentation

◆ threads_

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