fast_bilateral_omp.h
/*
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*
* Point Cloud Library (PCL) - www.pointclouds.org
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* Copyright (c) 2004, Sylvain Paris and Francois Sillion
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* $Id: fast_bilateral_omp.h 8379 2013-01-02 23:12:21Z sdmiller $
*
*/
#ifndef PCL_FILTERS_FAST_BILATERAL_OMP_H_
#define PCL_FILTERS_FAST_BILATERAL_OMP_H_
#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 Frdo 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_;
typedef typename FastBilateralFilter<PointT>::Array3D Array3D;
typedef typename Filter<PointT>::PointCloud PointCloud;
public:
typedef boost::shared_ptr< FastBilateralFilterOMP<PointT> > Ptr;
typedef boost::shared_ptr< const FastBilateralFilterOMP<PointT> > ConstPtr;
/** \brief Empty constructor. */
FastBilateralFilterOMP (unsigned int nr_threads = 0)
: threads_ (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)
*/
inline void
setNumberOfThreads (unsigned int nr_threads = 0) { threads_ = nr_threads; }
/** \brief Filter the input data and store the results into output.
* \param[out] output the resultant point cloud
*/
void
applyFilter (PointCloud &output);
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
#endif /* PCL_FILTERS_FAST_BILATERAL_OMP_H_ */
pcl::FastBilateralFilterOMP::ConstPtr
boost::shared_ptr< const FastBilateralFilterOMP< PointT > > ConstPtr
Definition: fast_bilateral_omp.h:73
pcl::FastBilateralFilterOMP::Ptr
boost::shared_ptr< FastBilateralFilterOMP< PointT > > Ptr
Definition: fast_bilateral_omp.h:72
pcl::FastBilateralFilterOMP::threads_
unsigned int threads_
The number of threads the scheduler should use.
Definition: fast_bilateral_omp.h:94
pcl
Definition: cloud_iterator.h:46
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.h:84
pcl::FastBilateralFilterOMP
Implementation of a fast bilateral filter for smoothing depth information in organized point clouds B...
Definition: fast_bilateral_omp.h:59
pcl::FastBilateralFilter::Array3D
Definition: fast_bilateral.h:117
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Definition: projection_matrix.h:53
pcl::FastBilateralFilter
Implementation of a fast bilateral filter for smoothing depth information in organized point clouds B...
Definition: fast_bilateral.h:58
pcl::FastBilateralFilterOMP::applyFilter
void applyFilter(PointCloud &output)
Filter the input data and store the results into output.
Definition: fast_bilateral_omp.hpp:50
pcl::FastBilateralFilterOMP::FastBilateralFilterOMP
FastBilateralFilterOMP(unsigned int nr_threads=0)
Empty constructor.
Definition: fast_bilateral_omp.h:76
pcl::FastBilateralFilterOMP::Array3D
FastBilateralFilter< PointT >::Array3D Array3D
Definition: fast_bilateral_omp.h:66
pcl::FastBilateralFilterOMP::PointCloud
Filter< PointT >::PointCloud PointCloud
Definition: fast_bilateral_omp.h:68