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>

Inheritance diagram for pcl::FastBilateralFilter< PointT >:

Classes
class	Array3D

Public Types
typedef boost::shared_ptr< FastBilateralFilter< PointT > >	Ptr

typedef boost::shared_ptr< const FastBilateralFilter< PointT > >	ConstPtr

Public Types inherited from pcl::Filter< PointT >
typedef boost::shared_ptr< Filter< PointT > >	Ptr

typedef boost::shared_ptr< const Filter< PointT > >	ConstPtr

typedef pcl::PointCloud< PointT >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

Public Types inherited from pcl::PCLBase< PointT >
typedef pcl::PointCloud< PointT >	PointCloud

typedef PointCloud::Ptr	PointCloudPtr

typedef PointCloud::ConstPtr	PointCloudConstPtr

typedef boost::shared_ptr< PointIndices >	PointIndicesPtr

typedef boost::shared_ptr< PointIndices const >	PointIndicesConstPtr

Public Member Functions
	FastBilateralFilter ()
	Empty constructor. More...

virtual	~FastBilateralFilter ()
	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...

virtual void	applyFilter (PointCloud &output)
	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...

virtual	~Filter ()
	Empty destructor. More...

IndicesConstPtr const	getRemovedIndices ()
	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 ()
	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 (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr const	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[] (size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Protected Types
typedef Filter< PointT >::PointCloud	PointCloud

Protected Attributes
float	sigma_s_

float	sigma_r_

bool	early_division_

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::FastBilateralFilter< PointT >

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

Sylvain Paris and Fr�do 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 58 of file fast_bilateral.h.

Member Typedef Documentation

template<typename PointT >

typedef boost::shared_ptr< const FastBilateralFilter<PointT> > pcl::FastBilateralFilter< PointT >::ConstPtr

Definition at line 67 of file fast_bilateral.h.

template<typename PointT >

typedef Filter<PointT>::PointCloud pcl::FastBilateralFilter< PointT >::PointCloud

protected

Definition at line 62 of file fast_bilateral.h.

template<typename PointT >

typedef boost::shared_ptr< FastBilateralFilter<PointT> > pcl::FastBilateralFilter< PointT >::Ptr

Definition at line 66 of file fast_bilateral.h.

Constructor & Destructor Documentation

template<typename PointT >

pcl::FastBilateralFilter< PointT >::FastBilateralFilter ( )

inline

Empty constructor.

Definition at line 70 of file fast_bilateral.h.

template<typename PointT >

virtual pcl::FastBilateralFilter< PointT >::~FastBilateralFilter ( )

inlinevirtual

Empty destructor.

Definition at line 77 of file fast_bilateral.h.

Member Function Documentation

template<typename PointT >

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

virtual

Filter the input data and store the results into output.

Parameters

[out] output the resultant point cloud

Implements pcl::Filter< PointT >.

Reimplemented in pcl::FastBilateralFilterOMP< PointT >.

Definition at line 47 of file fast_bilateral.hpp.

References pcl::FastBilateralFilter< PointT >::Array3D::begin(), pcl::copyPointCloud(), pcl::FastBilateralFilter< PointT >::Array3D::end(), pcl::PointCloud< PointT >::height, pcl::FastBilateralFilter< PointT >::Array3D::trilinear_interpolation(), and pcl::PointCloud< PointT >::width.

Referenced by pcl::FastBilateralFilter< PointT >::getSigmaR().

template<typename PointT >

float pcl::FastBilateralFilter< PointT >::getSigmaR ( ) const

inline

Get the standard deviation of the Gaussian for the intensity difference.

Definition at line 103 of file fast_bilateral.h.

References pcl::FastBilateralFilter< PointT >::applyFilter(), and pcl::FastBilateralFilter< PointT >::sigma_r_.

template<typename PointT >

float pcl::FastBilateralFilter< PointT >::getSigmaS ( ) const

inline

Get the size of the Gaussian bilateral filter window as set by the user.

Definition at line 89 of file fast_bilateral.h.

References pcl::FastBilateralFilter< PointT >::sigma_s_.

template<typename PointT >

void pcl::FastBilateralFilter< PointT >::setSigmaR ( float sigma_r )

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

[in] sigma_r the standard deviation of the Gaussian for the intensity difference

Definition at line 98 of file fast_bilateral.h.

References pcl::FastBilateralFilter< PointT >::sigma_r_.

template<typename PointT >

void pcl::FastBilateralFilter< PointT >::setSigmaS ( float sigma_s )

inline

Set the standard deviation of the Gaussian used by the bilateral filter for the spatial neighborhood/window.

Parameters

[in] sigma_s the size of the Gaussian bilateral filter window to use

Definition at line 84 of file fast_bilateral.h.

References pcl::FastBilateralFilter< PointT >::sigma_s_.