median_filter.hpp
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#ifndef PCL_FILTERS_IMPL_MEDIAN_FILTER_HPP_
#define PCL_FILTERS_IMPL_MEDIAN_FILTER_HPP_
#include <pcl/filters/median_filter.h>
#include <pcl/common/io.h>
template <typename PointT> void
pcl::MedianFilter<PointT>::applyFilter (PointCloud &output)
{
if (!input_->isOrganized ())
{
PCL_ERROR ("[pcl::MedianFilter] Input cloud needs to be organized\n");
return;
}
// Copy everything from the input cloud to the output cloud (takes care of all the fields)
copyPointCloud (*input_, output);
int height = static_cast<int> (output.height);
int width = static_cast<int> (output.width);
for (int y = 0; y < height; ++y)
for (int x = 0; x < width; ++x)
if (pcl::isFinite ((*input_)(x, y)))
{
std::vector<float> vals;
vals.reserve (window_size_ * window_size_);
// Fill in the vector of values with the depths around the interest point
for (int y_dev = -window_size_/2; y_dev <= window_size_/2; ++y_dev)
for (int x_dev = -window_size_/2; x_dev <= window_size_/2; ++x_dev)
{
if (x + x_dev >= 0 && x + x_dev < width &&
y + y_dev >= 0 && y + y_dev < height &&
pcl::isFinite ((*input_)(x+x_dev, y+y_dev)))
vals.push_back ((*input_)(x+x_dev, y+y_dev).z);
}
if (vals.size () == 0)
continue;
// The output depth will be the median of all the depths in the window
partial_sort (vals.begin (), vals.begin () + vals.size () / 2 + 1, vals.end ());
float new_depth = vals[vals.size () / 2];
// Do not allow points to move more than the set max_allowed_movement_
if (fabs (new_depth - (*input_)(x, y).z) < max_allowed_movement_)
output (x, y).z = new_depth;
else
output (x, y).z = (*input_)(x, y).z +
max_allowed_movement_ * (new_depth - (*input_)(x, y).z) / fabsf (new_depth - (*input_)(x, y).z);
}
}
#endif /* PCL_FILTERS_IMPL_MEDIAN_FILTER_HPP_ */
pcl::isFinite
bool isFinite(const PointT &pt)
Tests if the 3D components of a point are all finite param[in] pt point to be tested.
Definition: point_tests.h:53
pcl::copyPointCloud
PCL_EXPORTS void copyPointCloud(const pcl::PCLPointCloud2 &cloud_in, const std::vector< int > &indices, pcl::PCLPointCloud2 &cloud_out)
Extract the indices of a given point cloud as a new point cloud.
pcl::PointCloud::height
uint32_t height
The point cloud height (if organized as an image-structure).
Definition: point_cloud.h:415
pcl::MedianFilter::applyFilter
void applyFilter(PointCloud &output)
Filter the input data and store the results into output.
Definition: median_filter.hpp:47
pcl::PointCloud::width
uint32_t width
The point cloud width (if organized as an image-structure).
Definition: point_cloud.h:413
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Definition: projection_matrix.h:53