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
using	Ptr = shared_ptr<FastBilateralFilter<PointT> >
using	ConstPtr = shared_ptr<const FastBilateralFilter<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
	FastBilateralFilter ()=default
	Empty constructor.
	~FastBilateralFilter () override=default
	Empty destructor.
void	setSigmaS (float sigma_s)
	Set the standard deviation of the Gaussian used by the bilateral filter for the spatial neighborhood/window.
float	getSigmaS () const
	Get the size of the Gaussian bilateral filter window as set by the user.
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).
float	getSigmaR () const
	Get the standard deviation of the Gaussian for the intensity difference.
void	applyFilter (PointCloud &output) override
	Filter the input data and store the results into output.
Public Member Functions inherited from pcl::Filter< PointT >
	Filter (bool extract_removed_indices=false)
	Empty constructor.
IndicesConstPtr const	getRemovedIndices () const
	Get the point indices being removed.
void	getRemovedIndices (PointIndices &pi)
	Get the point indices being removed.
void	filter (PointCloud &output)
	Calls the filtering method and returns the filtered dataset in output.
Public Member Functions inherited from pcl::PCLBase< PointT >
	PCLBase ()
	Empty constructor.
	PCLBase (const PCLBase &base)
	Copy constructor.
virtual	~PCLBase ()=default
	Destructor.
virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset.
PointCloudConstPtr const	getInputCloud () const
	Get a pointer to the input point cloud dataset.
virtual void	setIndices (const IndicesPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const IndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
virtual void	setIndices (const PointIndicesConstPtr &indices)
	Provide a pointer to the vector of indices that represents the input data.
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.
IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used.
IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used.
const PointT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code.

Protected Types
using	PointCloud = typename Filter<PointT>::PointCloud

Protected Attributes
float	sigma_s_ {15.0f}
float	sigma_r_ {0.05f}
bool	early_division_ {false}
Protected Attributes inherited from pcl::Filter< PointT >
IndicesPtr	removed_indices_
	Indices of the points that are removed.
std::string	filter_name_
	The filter name.
bool	extract_removed_indices_
	Set to true if we want to return the indices of the removed points.
Protected Attributes inherited from pcl::PCLBase< PointT >
PointCloudConstPtr	input_
	The input point cloud dataset.
IndicesPtr	indices_
	A pointer to the vector of point indices to use.
bool	use_indices_
	Set to true if point indices are used.
bool	fake_indices_
	If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud.

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.
Protected Member Functions inherited from pcl::PCLBase< PointT >
bool	initCompute ()
	This method should get called before starting the actual computation.
bool	deinitCompute ()
	This method should get called after finishing the actual computation.

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

template<typename PointT>

using pcl::FastBilateralFilter< PointT >::ConstPtr = shared_ptr<const FastBilateralFilter<PointT> >

Definition at line 65 of file fast_bilateral.h.

◆ PointCloud

template<typename PointT>

using pcl::FastBilateralFilter< PointT >::PointCloud = typename Filter<PointT>::PointCloud

protected

Definition at line 60 of file fast_bilateral.h.

◆ Ptr

template<typename PointT>

using pcl::FastBilateralFilter< PointT >::Ptr = shared_ptr<FastBilateralFilter<PointT> >

Definition at line 64 of file fast_bilateral.h.

Constructor & Destructor Documentation

◆ FastBilateralFilter()

template<typename PointT>

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

default

Empty constructor.

◆ ~FastBilateralFilter()

template<typename PointT>

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

overridedefault

Empty destructor.

Member Function Documentation

◆ applyFilter()

template<typename PointT>

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

overridevirtual

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 51 of file fast_bilateral.hpp.

References pcl::FastBilateralFilter< PointT >::Array3D::begin(), pcl::copyPointCloud(), early_division_, pcl::FastBilateralFilter< PointT >::Array3D::end(), pcl::PCLBase< PointT >::input_, sigma_r_, sigma_s_, and pcl::FastBilateralFilter< PointT >::Array3D::trilinear_interpolation().

◆ 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 97 of file fast_bilateral.h.

References sigma_r_.

◆ getSigmaS()

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 83 of file fast_bilateral.h.

References sigma_s_.

◆ setSigmaR()

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 92 of file fast_bilateral.h.

References sigma_r_.

◆ setSigmaS()

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 78 of file fast_bilateral.h.

References sigma_s_.

Member Data Documentation

◆ early_division_

template<typename PointT>

bool pcl::FastBilateralFilter< PointT >::early_division_ {false}

protected

Definition at line 109 of file fast_bilateral.h.

Referenced by applyFilter(), and pcl::FastBilateralFilterOMP< PointT >::applyFilter().

◆ sigma_r_

template<typename PointT>

float pcl::FastBilateralFilter< PointT >::sigma_r_ {0.05f}

protected

Definition at line 108 of file fast_bilateral.h.

Referenced by applyFilter(), pcl::FastBilateralFilterOMP< PointT >::applyFilter(), getSigmaR(), and setSigmaR().

◆ sigma_s_

template<typename PointT>

float pcl::FastBilateralFilter< PointT >::sigma_s_ {15.0f}

protected

Definition at line 107 of file fast_bilateral.h.

Referenced by applyFilter(), pcl::FastBilateralFilterOMP< PointT >::applyFilter(), getSigmaS(), and setSigmaS().

The documentation for this class was generated from the following files:

pcl/filters/fast_bilateral.h
pcl/filters/impl/fast_bilateral.hpp

Classes

Public Types

Public Member Functions

Protected Types

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ PointCloud

◆ Ptr

Constructor & Destructor Documentation

◆ FastBilateralFilter()

◆ ~FastBilateralFilter()

Member Function Documentation

◆ applyFilter()

◆ getSigmaR()

◆ getSigmaS()

◆ setSigmaR()

◆ setSigmaS()

Member Data Documentation

◆ early_division_

◆ sigma_r_

◆ sigma_s_