Point Cloud Library (PCL)
1.9.1
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40 #ifndef PCL_FILTERS_BILATERAL_H_
41 #define PCL_FILTERS_BILATERAL_H_
43 #include <pcl/filters/filter.h>
44 #include <pcl/search/pcl_search.h>
56 template<
typename Po
intT>
66 typedef boost::shared_ptr< BilateralFilter<PointT> >
Ptr;
67 typedef boost::shared_ptr< const BilateralFilter<PointT> >
ConstPtr;
74 sigma_r_ (
std::numeric_limits<double>::max ()),
93 computePointWeight (
const int pid,
const std::vector<int> &indices,
const std::vector<float> &distances);
100 { sigma_s_ = sigma_s; }
105 {
return (sigma_s_); }
112 { sigma_r_ = sigma_r;}
117 {
return (sigma_r_); }
133 kernel (
double x,
double sigma)
134 {
return (exp (- (x*x)/(2*sigma*sigma))); }
146 #ifdef PCL_NO_PRECOMPILE
147 #include <pcl/filters/impl/bilateral.hpp>
150 #endif // PCL_FILTERS_BILATERAL_H_
This file defines compatibility wrappers for low level I/O functions.
void setStdDev(const double sigma_r)
Set the standard deviation parameter.
boost::shared_ptr< pcl::search::Search< PointT > > Ptr
boost::shared_ptr< BilateralFilter< PointT > > Ptr
PointCloud represents the base class in PCL for storing collections of 3D points.
void applyFilter(PointCloud &output)
Filter the input data and store the results into output.
Filter represents the base filter class.
double getHalfSize() const
Get the half size of the Gaussian bilateral filter window as set by the user.
double computePointWeight(const int pid, const std::vector< int > &indices, const std::vector< float > &distances)
Compute the intensity average for a single point.
void setHalfSize(const double sigma_s)
Set the half size of the Gaussian bilateral filter window.
A bilateral filter implementation for point cloud data.
void setSearchMethod(const KdTreePtr &tree)
Provide a pointer to the search object.
double getStdDev() const
Get the value of the current standard deviation parameter of the bilateral filter.
boost::shared_ptr< const BilateralFilter< PointT > > ConstPtr
BilateralFilter()
Constructor.