Point Cloud Library (PCL)
1.3.1
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00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Point Cloud Library (PCL) - www.pointclouds.org 00005 * Copyright (c) 2010-2011, Willow Garage, Inc. 00006 * 00007 * All rights reserved. 00008 * 00009 * Redistribution and use in source and binary forms, with or without 00010 * modification, are permitted provided that the following conditions 00011 * are met: 00012 * 00013 * * Redistributions of source code must retain the above copyright 00014 * notice, this list of conditions and the following disclaimer. 00015 * * Redistributions in binary form must reproduce the above 00016 * copyright notice, this list of conditions and the following 00017 * disclaimer in the documentation and/or other materials provided 00018 * with the distribution. 00019 * * Neither the name of Willow Garage, Inc. nor the names of its 00020 * contributors may be used to endorse or promote products derived 00021 * from this software without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00030 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 * POSSIBILITY OF SUCH DAMAGE. 00035 * 00036 */ 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_