Implementation of the median filter. More...
#include <pcl/filters/median_filter.h>
Inheritance diagram for pcl::MedianFilter< PointT >:
Collaboration diagram for pcl::MedianFilter< PointT >:
Public Member Functions | |
| MedianFilter ()=default | |
| Empty constructor. More... | |
| void | setWindowSize (int window_size) |
| Set the window size of the filter. More... | |
| int | getWindowSize () const |
| Get the window size of the filter. More... | |
| void | setMaxAllowedMovement (float max_allowed_movement) |
| Set the largest value one dexel is allowed to move. More... | |
| float | getMaxAllowedMovement () const |
| Get the maximum distance one point is allowed to move along the z-axis. More... | |
| void | applyFilter (PointCloud &output) override |
| Filter the input data and store the results into output. 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 Attributes | |
| int | window_size_ {5} |
| float | max_allowed_movement_ {std::numeric_limits<float>::max ()} |
| 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 | |
| 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 |
| 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::MedianFilter< PointT >
Implementation of the median filter.
The median filter is one of the simplest and wide-spread image processing filters. It is known to perform well with "shot"/impulse noise (some individual pixels having extreme values), it does not reduce contrast across steps in the function (as compared to filters based on averaging), and it is robust to outliers. Furthermore, it is simple to implement and efficient, as it requires a single pass over the image. It consists of a moving window of fixed size that replaces the pixel in the center with the median inside the window.
- Note
- This algorithm filters only the depth (z-component) of organized and untransformed (i.e., in camera coordinates) point clouds. An error will be outputted if an unorganized cloud is given to the class instance.
Definition at line 60 of file median_filter.h.
Constructor & Destructor Documentation
◆ MedianFilter()
|
default |
Empty constructor.
Member Function Documentation
◆ applyFilter()
|
overridevirtual |
Filter the input data and store the results into output.
- Parameters
-
[out] output the result point cloud
Implements pcl::Filter< PointT >.
Definition at line 46 of file median_filter.hpp.
References pcl::copyPointCloud(), pcl::PointCloud< PointT >::height, pcl::isFinite(), and pcl::PointCloud< PointT >::width.
◆ getMaxAllowedMovement()
|
inline |
Get the maximum distance one point is allowed to move along the z-axis.
- Returns
- the maximum distance a dexel is allowed to move
Definition at line 94 of file median_filter.h.
References pcl::MedianFilter< PointT >::max_allowed_movement_.
◆ getWindowSize()
|
inline |
Get the window size of the filter.
- Returns
- the window size of the filter
Definition at line 80 of file median_filter.h.
References pcl::MedianFilter< PointT >::window_size_.
◆ setMaxAllowedMovement()
|
inline |
Set the largest value one dexel is allowed to move.
- Parameters
-
[in] max_allowed_movement maximum value a dexel is allowed to move during filtering
Definition at line 87 of file median_filter.h.
References pcl::MedianFilter< PointT >::max_allowed_movement_.
◆ setWindowSize()
|
inline |
Set the window size of the filter.
- Parameters
-
[in] window_size the new window size
Definition at line 73 of file median_filter.h.
References pcl::MedianFilter< PointT >::window_size_.
Member Data Documentation
◆ max_allowed_movement_
|
protected |
Definition at line 105 of file median_filter.h.
Referenced by pcl::MedianFilter< PointT >::getMaxAllowedMovement(), and pcl::MedianFilter< PointT >::setMaxAllowedMovement().
◆ window_size_
|
protected |
Definition at line 104 of file median_filter.h.
Referenced by pcl::MedianFilter< PointT >::getWindowSize(), and pcl::MedianFilter< PointT >::setWindowSize().
The documentation for this class was generated from the following files:
- pcl/filters/median_filter.h
- pcl/filters/impl/median_filter.hpp