Point Cloud Library (PCL) 1.15.0
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bilateral.h
1/*
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39
40#pragma once
41
42#include <pcl/filters/filter.h>
43#include <pcl/search/search.h> // for Search
44
45namespace pcl
46{
47 /** \brief A bilateral filter implementation for point cloud data. Uses the intensity data channel.
48 * \note For more information please see
49 * <b>C. Tomasi and R. Manduchi. Bilateral Filtering for Gray and Color Images.
50 * In Proceedings of the IEEE International Conference on Computer Vision,
51 * 1998.</b>
52 * \author Luca Penasa
53 * \ingroup filters
54 */
55 template<typename PointT>
56 class BilateralFilter : public Filter<PointT>
57 {
60 using PointCloud = typename Filter<PointT>::PointCloud;
61 using KdTreePtr = typename pcl::search::Search<PointT>::Ptr;
62
63 public:
64
65 using Ptr = shared_ptr<BilateralFilter<PointT> >;
66 using ConstPtr = shared_ptr<const BilateralFilter<PointT> >;
67
68 /** \brief Constructor.
69 * Sets sigma_s_ to 0 and sigma_r_ to MAXDBL
70 */
71 BilateralFilter () : tree_ ()
72 {
73 }
74 /** \brief Compute the intensity average for a single point
75 * \param[in] pid the point index to compute the weight for
76 * \param[in] indices the set of nearest neighbor indices
77 * \param[in] distances the set of nearest neighbor distances
78 * \return the intensity average at a given point index
79 */
80 double
81 computePointWeight (const int pid, const Indices &indices, const std::vector<float> &distances);
82
83 /** \brief Set the half size of the Gaussian bilateral filter window.
84 * \param[in] sigma_s the half size of the Gaussian bilateral filter window to use
85 */
86 inline void
87 setHalfSize (const double sigma_s)
88 { sigma_s_ = sigma_s; }
89
90 /** \brief Get the half size of the Gaussian bilateral filter window as set by the user. */
91 inline double
92 getHalfSize () const
93 { return (sigma_s_); }
94
95 /** \brief Set the standard deviation parameter
96 * \param[in] sigma_r the new standard deviation parameter
97 */
98 inline void
99 setStdDev (const double sigma_r)
100 { sigma_r_ = sigma_r;}
101
102 /** \brief Get the value of the current standard deviation parameter of the bilateral filter. */
103 inline double
104 getStdDev () const
105 { return (sigma_r_); }
106
107 /** \brief Provide a pointer to the search object.
108 * \param[in] tree a pointer to the spatial search object.
109 */
110 inline void
111 setSearchMethod (const KdTreePtr &tree)
112 { tree_ = tree; }
113
114 protected:
115 /** \brief Filter the input data and store the results into output
116 * \param[out] output the resultant point cloud message
117 */
118 void
119 applyFilter (PointCloud &output) override;
120
121 private:
122 /** \brief The bilateral filter Gaussian distance kernel.
123 * \param[in] x the spatial distance (distance or intensity)
124 * \param[in] sigma standard deviation
125 */
126 inline double
127 kernel (double x, double sigma)
128 { return (std::exp (- (x*x)/(2*sigma*sigma))); }
129
130 /** \brief The half size of the Gaussian bilateral filter window (e.g., spatial extents in Euclidean). */
131 double sigma_s_{0.0};
132 /** \brief The standard deviation of the bilateral filter (e.g., standard deviation in intensity). */
133 double sigma_r_{std::numeric_limits<double>::max ()};
134
135 /** \brief A pointer to the spatial search object. */
136 KdTreePtr tree_;
137 };
138}
139
140#ifdef PCL_NO_PRECOMPILE
141#include <pcl/filters/impl/bilateral.hpp>
142#endif
A bilateral filter implementation for point cloud data.
Definition bilateral.h:57
shared_ptr< BilateralFilter< PointT > > Ptr
Definition bilateral.h:65
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
Definition bilateral.h:111
double getStdDev() const
Get the value of the current standard deviation parameter of the bilateral filter.
Definition bilateral.h:104
shared_ptr< const BilateralFilter< PointT > > ConstPtr
Definition bilateral.h:66
BilateralFilter()
Constructor.
Definition bilateral.h:71
double getHalfSize() const
Get the half size of the Gaussian bilateral filter window as set by the user.
Definition bilateral.h:92
void applyFilter(PointCloud &output) override
Filter the input data and store the results into output.
Definition bilateral.hpp:76
void setStdDev(const double sigma_r)
Set the standard deviation parameter.
Definition bilateral.h:99
void setHalfSize(const double sigma_s)
Set the half size of the Gaussian bilateral filter window.
Definition bilateral.h:87
double computePointWeight(const int pid, const Indices &indices, const std::vector< float > &distances)
Compute the intensity average for a single point.
Definition bilateral.hpp:50
Filter represents the base filter class.
Definition filter.h:81
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< pcl::search::Search< PointT > > Ptr
Definition search.h:81
IndicesAllocator<> Indices
Type used for indices in PCL.
Definition types.h:133
A point structure representing Euclidean xyz coordinates, and the RGB color.