Loading...
Searching...
No Matches
fast_bilateral_omp.h
/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2012-, Open Perception, Inc.
* Copyright (c) 2004, Sylvain Paris and Francois Sillion
* All rights reserved.
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id: fast_bilateral_omp.h 8379 2013-01-02 23:12:21Z sdmiller $
*
*/
#pragma once
#include <pcl/filters/filter.h>
#include <pcl/filters/fast_bilateral.h>
namespace pcl
{
/** \brief 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/
*/
template<typename PointT>
class FastBilateralFilterOMP : public FastBilateralFilter<PointT>
{
protected:
using FastBilateralFilter<PointT>::input_;
using FastBilateralFilter<PointT>::sigma_s_;
using FastBilateralFilter<PointT>::sigma_r_;
using FastBilateralFilter<PointT>::early_division_;
using Array3D = typename FastBilateralFilter<PointT>::Array3D;
using PointCloud = typename Filter<PointT>::PointCloud;
public:
using Ptr = shared_ptr<FastBilateralFilterOMP<PointT> >;
using ConstPtr = shared_ptr<const FastBilateralFilterOMP<PointT> >;
/** \brief Empty constructor. */
FastBilateralFilterOMP (unsigned int nr_threads = 0)
{
setNumberOfThreads(nr_threads);
}
/** \brief Initialize the scheduler and set the number of threads to use.
* \param nr_threads the number of hardware threads to use (0 sets the value back to automatic)
*/
void
setNumberOfThreads (unsigned int nr_threads = 0);
/** \brief Filter the input data and store the results into output.
* \param[out] output the resultant point cloud
*/
void
applyFilter (PointCloud &output) override;
protected:
/** \brief The number of threads the scheduler should use. */
unsigned int threads_;
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/filters/impl/fast_bilateral_omp.hpp>
#else
#define PCL_INSTANTIATE_FastBilateralFilterOMP(T) template class PCL_EXPORTS pcl::FastBilateralFilterOMP<T>;
#endif
pcl::FastBilateralFilter::Array3D
Definition fast_bilateral.h:112
pcl::FastBilateralFilter
Implementation of a fast bilateral filter for smoothing depth information in organized point clouds B...
Definition fast_bilateral.h:57
pcl::FastBilateralFilter::sigma_r_
float sigma_r_
Definition fast_bilateral.h:108
pcl::FastBilateralFilter::sigma_s_
float sigma_s_
Definition fast_bilateral.h:107
pcl::FastBilateralFilter::early_division_
bool early_division_
Definition fast_bilateral.h:109
pcl::FastBilateralFilterOMP
Implementation of a fast bilateral filter for smoothing depth information in organized point clouds B...
Definition fast_bilateral_omp.h:58
pcl::FastBilateralFilterOMP::ConstPtr
shared_ptr< const FastBilateralFilterOMP< PointT > > ConstPtr
Definition fast_bilateral_omp.h:71
pcl::FastBilateralFilterOMP::threads_
unsigned int threads_
The number of threads the scheduler should use.
Definition fast_bilateral_omp.h:93
pcl::FastBilateralFilterOMP::setNumberOfThreads
void setNumberOfThreads(unsigned int nr_threads=0)
Initialize the scheduler and set the number of threads to use.
Definition fast_bilateral_omp.hpp:48
pcl::FastBilateralFilterOMP::applyFilter
void applyFilter(PointCloud &output) override
Filter the input data and store the results into output.
Definition fast_bilateral_omp.hpp:62
pcl::FastBilateralFilterOMP::FastBilateralFilterOMP
FastBilateralFilterOMP(unsigned int nr_threads=0)
Empty constructor.
Definition fast_bilateral_omp.h:74
pcl::FastBilateralFilterOMP::Ptr
shared_ptr< FastBilateralFilterOMP< PointT > > Ptr
Definition fast_bilateral_omp.h:70
pcl::FastBilateralFilterOMP::Array3D
typename FastBilateralFilter< PointT >::Array3D Array3D
Definition fast_bilateral_omp.h:64
pcl::FastBilateralFilterOMP::PointCloud
typename Filter< PointT >::PointCloud PointCloud
Definition fast_bilateral_omp.h:66
pcl::PCLBase::input_
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition point_cloud.h:173
pcl
Definition convolution.h:46
pcl::PointXYZRGB
A point structure representing Euclidean xyz coordinates, and the RGB color.
Definition point_types.hpp:594