Point Cloud Library (PCL)  1.11.1-dev
median_filter.hpp
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39 
40 #pragma once
41 
42 #include <pcl/filters/median_filter.h>
43 #include <pcl/common/point_tests.h> // for pcl::isFinite
44 
45 template <typename PointT> void
47 {
48  if (!input_->isOrganized ())
49  {
50  PCL_ERROR ("[pcl::MedianFilter] Input cloud needs to be organized\n");
51  return;
52  }
53 
54  // Copy everything from the input cloud to the output cloud (takes care of all the fields)
55  copyPointCloud (*input_, output);
56 
57  int height = static_cast<int> (output.height);
58  int width = static_cast<int> (output.width);
59  for (int y = 0; y < height; ++y)
60  for (int x = 0; x < width; ++x)
61  if (pcl::isFinite ((*input_)(x, y)))
62  {
63  std::vector<float> vals;
64  vals.reserve (window_size_ * window_size_);
65  // Fill in the vector of values with the depths around the interest point
66  for (int y_dev = -window_size_/2; y_dev <= window_size_/2; ++y_dev)
67  for (int x_dev = -window_size_/2; x_dev <= window_size_/2; ++x_dev)
68  {
69  if (x + x_dev >= 0 && x + x_dev < width &&
70  y + y_dev >= 0 && y + y_dev < height &&
71  pcl::isFinite ((*input_)(x+x_dev, y+y_dev)))
72  vals.push_back ((*input_)(x+x_dev, y+y_dev).z);
73  }
74 
75  if (vals.empty ())
76  continue;
77 
78  // The output depth will be the median of all the depths in the window
79  auto middle_it = vals.begin () + vals.size () / 2;
80  std::nth_element (vals.begin (), middle_it, vals.end ());
81  float new_depth = *middle_it;
82  // Do not allow points to move more than the set max_allowed_movement_
83  if (std::abs (new_depth - (*input_)(x, y).z) < max_allowed_movement_)
84  output (x, y).z = new_depth;
85  else
86  output (x, y).z = (*input_)(x, y).z +
87  max_allowed_movement_ * (new_depth - (*input_)(x, y).z) / std::abs (new_depth - (*input_)(x, y).z);
88  }
89 }
90 
pcl::PointCloud::height
std::uint32_t height
The point cloud height (if organized as an image-structure).
Definition: point_cloud.h:394
pcl::isFinite
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested return true if f...
Definition: point_tests.h:55
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: distances.h:55
pcl::copyPointCloud
void copyPointCloud(const pcl::PointCloud< PointInT > &cloud_in, pcl::PointCloud< PointOutT > &cloud_out)
Copy all the fields from a given point cloud into a new point cloud.
Definition: io.hpp:144
pcl::PointCloud::width
std::uint32_t width
The point cloud width (if organized as an image-structure).
Definition: point_cloud.h:392
pcl::MedianFilter::applyFilter
void applyFilter(PointCloud &output) override
Filter the input data and store the results into output.
Definition: median_filter.hpp:46