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.h>
Classes |
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| class | Array3D |
Public Types |
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| using | Ptr = shared_ptr< FastBilateralFilter< PointT > > |
| using | ConstPtr = shared_ptr< const FastBilateralFilter< PointT > > |
 Public Types inherited from pcl::Filter< PointT > |
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| 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 > |
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| 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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| FastBilateralFilter () | |
| Empty constructor. More... |
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| ~FastBilateralFilter () | |
| Empty destructor. More... |
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| void | setSigmaS (float sigma_s) |
| Set the standard deviation of the Gaussian used by the bilateral filter for the spatial neighborhood/window. More... |
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| float | getSigmaS () const |
| Get the size of the Gaussian bilateral filter window as set by the user. More... |
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| 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... |
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| float | getSigmaR () const |
| Get the standard deviation of the Gaussian for the intensity difference. More... |
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| void | applyFilter (PointCloud &output) override |
| Filter the input data and store the results into output. 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 Types |
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| using | PointCloud = typename Filter< PointT >::PointCloud |
Protected Attributes |
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| float | sigma_s_ |
| float | sigma_r_ |
| bool | early_division_ |
| 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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Additional Inherited Members |
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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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Detailed Description
template<typename PointT>
class pcl::FastBilateralFilter< 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 56 of file fast_bilateral.h.
Member Typedef Documentation
ConstPtr
| using pcl::FastBilateralFilter< PointT >::ConstPtr = shared_ptr<const FastBilateralFilter<PointT> > |
Definition at line 65 of file fast_bilateral.h.
PointCloud
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protected |
Definition at line 60 of file fast_bilateral.h.
Ptr
| using pcl::FastBilateralFilter< PointT >::Ptr = shared_ptr<FastBilateralFilter<PointT> > |
Definition at line 64 of file fast_bilateral.h.
Constructor & Destructor Documentation
FastBilateralFilter()
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inline |
Empty constructor.
Definition at line 68 of file fast_bilateral.h.
~FastBilateralFilter()
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inline |
Empty destructor.
Definition at line 75 of file fast_bilateral.h.
Member Function Documentation
applyFilter()
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overridevirtual |
Filter the input data and store the results into output.
- Parameters
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[out] output the resultant point cloud
Implements pcl::Filter< PointT >.
Reimplemented in pcl::FastBilateralFilterOMP< PointT >.
Definition at line 51 of file fast_bilateral.hpp.
References pcl::FastBilateralFilter< PointT >::Array3D::begin(), pcl::copyPointCloud(), pcl::FastBilateralFilter< PointT >::Array3D::end(), and pcl::FastBilateralFilter< PointT >::Array3D::trilinear_interpolation().
getSigmaR()
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inline |
Get the standard deviation of the Gaussian for the intensity difference.
Definition at line 101 of file fast_bilateral.h.
References pcl::FastBilateralFilter< PointT >::sigma_r_.
getSigmaS()
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inline |
Get the size of the Gaussian bilateral filter window as set by the user.
Definition at line 87 of file fast_bilateral.h.
References pcl::FastBilateralFilter< PointT >::sigma_s_.
setSigmaR()
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inline |
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).
- Parameters
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[in] sigma_r the standard deviation of the Gaussian for the intensity difference
Definition at line 96 of file fast_bilateral.h.
References pcl::FastBilateralFilter< PointT >::sigma_r_.
setSigmaS()
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inline |
Set the standard deviation of the Gaussian used by the bilateral filter for the spatial neighborhood/window.
- Parameters
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[in] sigma_s the size of the Gaussian bilateral filter window to use
Definition at line 82 of file fast_bilateral.h.
References pcl::FastBilateralFilter< PointT >::sigma_s_.
Member Data Documentation
early_division_
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protected |
Definition at line 113 of file fast_bilateral.h.
sigma_r_
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protected |
Definition at line 112 of file fast_bilateral.h.
Referenced by pcl::FastBilateralFilter< PointT >::getSigmaR(), and pcl::FastBilateralFilter< PointT >::setSigmaR().
sigma_s_
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protected |
Definition at line 111 of file fast_bilateral.h.
Referenced by pcl::FastBilateralFilter< PointT >::getSigmaS(), and pcl::FastBilateralFilter< PointT >::setSigmaS().
The documentation for this class was generated from the following files:
- pcl/filters/fast_bilateral.h
- pcl/filters/impl/fast_bilateral.hpp
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_fast_bilateral_filter.html
