A bilateral filter implementation for point cloud data. More...
#include <pcl/filters/bilateral.h>
Public Types |
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| 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 |
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| BilateralFilter () | |
| Constructor. More... |
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| 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... |
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| Public Member Functions inherited from pcl::Filter< PointT > |
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| Filter (bool extract_removed_indices=false) | |
| Empty constructor. More... |
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| const IndicesConstPtr | getRemovedIndices () const |
| Get the point indices being removed. More... |
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| void | getRemovedIndices (PointIndices &pi) |
| Get the point indices being removed. More... |
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| void | filter (PointCloud &output) |
| Calls the filtering method and returns the filtered dataset in output. More... |
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| Public Member Functions inherited from pcl::PCLBase< PointT > |
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| 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... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Protected Member Functions |
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| void | applyFilter (PointCloud &output) override |
| Filter the input data and store the results into output. More... |
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| Protected Member Functions inherited from pcl::Filter< PointT > |
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| const std::string & | getClassName () const |
| Get a string representation of the name of this class. More... |
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| Protected Member Functions inherited from pcl::PCLBase< PointT > |
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Additional Inherited Members |
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| Protected Attributes inherited from pcl::Filter< PointT > |
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| IndicesPtr | removed_indices_ |
| Indices of the points that are removed. More... |
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| std::string | filter_name_ |
| The filter name. More... |
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| bool | extract_removed_indices_ |
| Set to true if we want to return the indices of the removed points. More... |
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| Protected Attributes inherited from pcl::PCLBase< PointT > |
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| bool | fake_indices_ |
| If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More... |
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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.
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 >
|
inline |
Member Function Documentation
applyFilter()
template<typename PointT >
|
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 75 of file bilateral.hpp.
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 neighor indices [in] distances the set of nearest neighbor distances
- Returns
- the intensity average at a given point index
Definition at line 49 of file bilateral.hpp.
getHalfSize()
template<typename PointT >
|
inline |
Get the half size of the Gaussian bilateral filter window as set by the user.
Definition at line 94 of file bilateral.h.
getStdDev()
template<typename PointT >
|
inline |
Get the value of the current standard deviation parameter of the bilateral filter.
Definition at line 106 of file bilateral.h.
setHalfSize()
template<typename PointT >
|
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 89 of file bilateral.h.
setSearchMethod()
template<typename PointT >
|
inline |
Provide a pointer to the search object.
- Parameters
-
[in] tree a pointer to the spatial search object.
Definition at line 113 of file bilateral.h.
setStdDev()
template<typename PointT >
|
inline |
Set the standard deviation parameter.
- Parameters
-
[in] sigma_r the new standard deviation parameter
Definition at line 101 of file bilateral.h.
The documentation for this class was generated from the following files:
- pcl/filters/bilateral.h
- pcl/filters/impl/bilateral.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_bilateral_filter.html
