Point Cloud Library (PCL)  1.3.1
bilateral.h
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00037 
00038 #ifndef PCL_FILTERS_BILATERAL_H_
00039 #define PCL_FILTERS_BILATERAL_H_
00040 
00041 #include <pcl/filters/filter.h>
00042 #include <pcl/search/pcl_search.h>
00043 
00044 namespace pcl
00045 {
00054   template<typename PointT>
00055   class BilateralFilter : public Filter<PointT>
00056   {
00057     using Filter<PointT>::input_;
00058     using Filter<PointT>::indices_;
00059     typedef typename Filter<PointT>::PointCloud PointCloud;
00060     typedef typename pcl::search::Search<PointT>::Ptr KdTreePtr;
00061 
00062     public:
00066       BilateralFilter () : sigma_s_ (0), 
00067                            sigma_r_ (std::numeric_limits<double>::max ())
00068       {
00069       }
00070 
00071 
00075       void
00076       applyFilter (PointCloud &output);
00077 
00084       double 
00085       computePointWeight (const int pid, const std::vector<int> &indices, const std::vector<float> &distances);
00086 
00090       inline void 
00091       setHalfSize (const double sigma_s)
00092       {
00093         sigma_s_ = sigma_s;
00094       }
00095 
00097       double 
00098       getHalfSize ()
00099       {
00100         return (sigma_s_);
00101       }
00102 
00106       void
00107       setStdDev (const double sigma_r)
00108       {
00109         sigma_r_ = sigma_r;
00110       }
00111 
00113       double 
00114       getStdDev ()
00115       {
00116         return (sigma_r_);
00117       }
00118 
00122       void
00123       setSearchMethod (const KdTreePtr &tree)
00124       {
00125         tree_ = tree;
00126       }
00127 
00128     private:
00129 
00134       inline double
00135       kernel (double x, double sigma)
00136       {
00137         return (exp (- (x*x)/(2*sigma*sigma)));
00138       }
00139 
00141       double sigma_s_;
00143       double sigma_r_;
00144 
00146       KdTreePtr tree_;
00147   };
00148 }
00149 
00150 #endif // PCL_FILTERS_BILATERAL_H_
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