Point Cloud Library (PCL)
1.10.1
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42 #include <pcl/filters/filter.h>
43 #include <pcl/search/pcl_search.h>
55 template<
typename Po
intT>
73 sigma_r_ (std::numeric_limits<double>::max ()),
92 computePointWeight (
const int pid,
const std::vector<int> &indices,
const std::vector<float> &distances);
99 { sigma_s_ = sigma_s; }
104 {
return (sigma_s_); }
111 { sigma_r_ = sigma_r;}
116 {
return (sigma_r_); }
132 kernel (
double x,
double sigma)
133 {
return (std::exp (- (x*x)/(2*sigma*sigma))); }
145 #ifdef PCL_NO_PRECOMPILE
146 #include <pcl/filters/impl/bilateral.hpp>
This file defines compatibility wrappers for low level I/O functions.
void setStdDev(const double sigma_r)
Set the standard deviation parameter.
shared_ptr< const BilateralFilter< PointT > > ConstPtr
PointCloud represents the base class in PCL for storing collections of 3D points.
shared_ptr< pcl::search::Search< PointT > > Ptr
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.
shared_ptr< BilateralFilter< PointT > > Ptr
void setHalfSize(const double sigma_s)
Set the half size of the Gaussian bilateral filter window.
void applyFilter(PointCloud &output) override
Filter the input data and store the results into output.
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< T > shared_ptr
Alias for boost::shared_ptr.
BilateralFilter()
Constructor.