median_filter.h
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#ifndef PCL_FILTERS_MEDIAN_FILTER_H_
#define PCL_FILTERS_MEDIAN_FILTER_H_
#include <pcl/filters/filter.h>
namespace pcl
{
/** \brief Implementation of the median filter.
* The median filter is one of the simplest and wide-spread image processing filters. It is known to perform well
* with "shot"/impulse noise (some individual pixels having extreme values), it does not reduce contrast across steps
* in the function (as compared to filters based on averaging), and it is robust to outliers. Furthermore, it is
* simple to implement and efficient, as it requires a single pass over the image. It consists of a moving window of
* fixed size that replaces the pixel in the center with the median inside the window.
*
* \note This algorithm filters only the depth (z-component) of _organized_ and untransformed (i.e., in camera coordinates)
* point clouds. An error will be outputted if an unorganized cloud is given to the class instance.
*
* \author Alexandru E. Ichim
* \ingroup filters
*/
template <typename PointT>
class MedianFilter : public pcl::Filter<PointT>
{
using pcl::Filter<PointT>::input_;
typedef typename pcl::Filter<PointT>::PointCloud PointCloud;
public:
/** \brief Empty constructor. */
MedianFilter ()
: window_size_ (5)
, max_allowed_movement_ (std::numeric_limits<float>::max ())
{ }
/** \brief Set the window size of the filter.
* \param[in] window_size the new window size
*/
inline void
setWindowSize (int window_size)
{ window_size_ = window_size; }
/** \brief Get the window size of the filter.
* \returns the window size of the filter
*/
inline int
getWindowSize () const
{ return window_size_; }
/** \brief Set the largest value one dexel is allowed to move
* \param[in] max_allowed_movement maximum value a dexel is allowed to move during filtering
*/
inline void
setMaxAllowedMovement (float max_allowed_movement)
{ max_allowed_movement_ = max_allowed_movement; }
/** \brief Get the maximum distance one point is allowed to move along the z-axis.
* \returns the maximum distance a dexel is allowed to move
*/
inline float
getMaxAllowedMovement () const
{ return max_allowed_movement_; }
/** \brief Filter the input data and store the results into output.
* \param[out] output the result point cloud
*/
void
applyFilter (PointCloud &output);
protected:
int window_size_;
float max_allowed_movement_;
};
}
#ifdef PCL_NO_PRECOMPILE
#include <pcl/filters/impl/median_filter.hpp>
#else
#define PCL_INSTANTIATE_MedianFilter(T) template class PCL_EXPORTS pcl::MedianFilter<T>;
#endif
#endif /* PCL_FILTERS_MEDIAN_FILTER_H_ */
pcl::MedianFilter::getMaxAllowedMovement
float getMaxAllowedMovement() const
Get the maximum distance one point is allowed to move along the z-axis.
Definition: median_filter.h:99
pcl
Definition: convolution.h:45
pcl::MedianFilter::setWindowSize
void setWindowSize(int window_size)
Set the window size of the filter.
Definition: median_filter.h:78
std
Definition: multi_grid_octree_data.hpp:45
pcl::MedianFilter::window_size_
int window_size_
Definition: median_filter.h:109
pcl::MedianFilter::applyFilter
void applyFilter(PointCloud &output)
Filter the input data and store the results into output.
Definition: median_filter.hpp:47
pcl::MedianFilter::MedianFilter
MedianFilter()
Empty constructor.
Definition: median_filter.h:69
pcl::MedianFilter::getWindowSize
int getWindowSize() const
Get the window size of the filter.
Definition: median_filter.h:85
pcl::Filter
Filter represents the base filter class.
Definition: filter.h:84
pcl::MedianFilter
Implementation of the median filter.
Definition: median_filter.h:62
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points. ...
Definition: projection_matrix.h:53
pcl::MedianFilter::max_allowed_movement_
float max_allowed_movement_
Definition: median_filter.h:110
pcl::MedianFilter::setMaxAllowedMovement
void setMaxAllowedMovement(float max_allowed_movement)
Set the largest value one dexel is allowed to move.
Definition: median_filter.h:92