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 <span id="projectnumber">1.14.1-dev</span>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <pcl/filters/filter.h></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <pcl/search/search.h></span> <span class="comment">// for Search</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="keyword">namespace </span><a class="code" href="namespacepcl.html">pcl</a></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> {<span class="comment"></span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment"> /** \brief A bilateral filter implementation for point cloud data. Uses the intensity data channel.</span></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment"> * \note For more information please see </span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="comment"> * <b>C. Tomasi and R. Manduchi. Bilateral Filtering for Gray and Color Images.</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="comment"> * In Proceedings of the IEEE International Conference on Computer Vision,</span></div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="comment"> * 1998.</b></span></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="comment"> * \author Luca Penasa</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="comment"> * \ingroup filters</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keyword">template</span><<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T></div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_filter.html"> 56</a></span>  <span class="keyword">class </span><a class="code" href="classpcl_1_1_bilateral_filter.html">BilateralFilter</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_filter.html">Filter</a><PointT></div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  {</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter<PointT>::input_</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter<PointT>::indices_</a>;</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> = <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Filter<PointT>::PointCloud</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keyword">using</span> KdTreePtr = <span class="keyword">typename</span> <a class="code" href="classpcl_1_1search_1_1_search.html#ab4688e4899ce5aa6937dba334dc75763">pcl::search::Search<PointT>::Ptr</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  </div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  </div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_filter.html#a1bb1cdb0757d35279f223549c38c181c"> 65</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_bilateral_filter.html#a1bb1cdb0757d35279f223549c38c181c">Ptr</a> = shared_ptr<BilateralFilter<PointT> >;</div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_filter.html#a60b18084e971b2dca64df73ad5594e0c"> 66</a></span>  <span class="keyword">using</span> <a class="code" href="classpcl_1_1_bilateral_filter.html#a60b18084e971b2dca64df73ad5594e0c">ConstPtr</a> = shared_ptr<const BilateralFilter<PointT> >;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span> <span class="comment"></span> </div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="comment"> /** \brief Constructor. </span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="comment"> * Sets sigma_s_ to 0 and sigma_r_ to MAXDBL</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_filter.html#a6d2043ffcb98ec957d38ac1c9746790c"> 71</a></span>  <a class="code" href="classpcl_1_1_bilateral_filter.html#a6d2043ffcb98ec957d38ac1c9746790c">BilateralFilter</a> () : tree_ ()</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  {</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  }<span class="comment"></span></div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span> <span class="comment"> /** \brief Compute the intensity average for a single point</span></div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> <span class="comment"> * \param[in] pid the point index to compute the weight for</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span> <span class="comment"> * \param[in] indices the set of nearest neighbor indices </span></div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> <span class="comment"> * \param[in] distances the set of nearest neighbor distances</span></div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="comment"> * \return the intensity average at a given point index</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <a class="code" href="classpcl_1_1_bilateral_filter.html#afdff640ef8260527ff9922cc02196537">computePointWeight</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> pid, <span class="keyword">const</span> <a class="code" href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">Indices</a> &indices, <span class="keyword">const</span> std::vector<float> &distances);</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> <span class="comment"></span> </div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span> <span class="comment"> /** \brief Set the half size of the Gaussian bilateral filter window.</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> <span class="comment"> * \param[in] sigma_s the half size of the Gaussian bilateral filter window to use</span></div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_filter.html#afc66e9881892c38ab0583a3e794e10be"> 87</a></span>  <a class="code" href="classpcl_1_1_bilateral_filter.html#afc66e9881892c38ab0583a3e794e10be">setHalfSize</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> sigma_s)</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  { sigma_s_ = sigma_s; }</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <span class="comment"></span> </div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> <span class="comment"> /** \brief Get the half size of the Gaussian bilateral filter window as set by the user. */</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_filter.html#ac254e5699f91bf688d21282c63f1aa67"> 92</a></span>  <a class="code" href="classpcl_1_1_bilateral_filter.html#ac254e5699f91bf688d21282c63f1aa67">getHalfSize</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span> <span class="keyword"> </span>{ <span class="keywordflow">return</span> (sigma_s_); }</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="comment"></span> </div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="comment"> /** \brief Set the standard deviation parameter</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> <span class="comment"> * \param[in] sigma_r the new standard deviation parameter</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_filter.html#adc9cfc0e5547a902d046da9d66c8cdc8"> 99</a></span>  <a class="code" href="classpcl_1_1_bilateral_filter.html#adc9cfc0e5547a902d046da9d66c8cdc8">setStdDev</a> (<span class="keyword">const</span> <span class="keywordtype">double</span> sigma_r)</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  { sigma_r_ = sigma_r;}</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> <span class="comment"></span> </div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> <span class="comment"> /** \brief Get the value of the current standard deviation parameter of the bilateral filter. */</span></div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_filter.html#a5e1455ab6c90044b98572c2078f89156"> 104</a></span>  <a class="code" href="classpcl_1_1_bilateral_filter.html#a5e1455ab6c90044b98572c2078f89156">getStdDev</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span> <span class="keyword"> </span>{ <span class="keywordflow">return</span> (sigma_r_); }</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span> <span class="comment"></span> </div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span> <span class="comment"> /** \brief Provide a pointer to the search object.</span></div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span> <span class="comment"> * \param[in] tree a pointer to the spatial search object.</span></div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_filter.html#a33c48632fadd95cd4cd5889b0342640b"> 111</a></span>  <a class="code" href="classpcl_1_1_bilateral_filter.html#a33c48632fadd95cd4cd5889b0342640b">setSearchMethod</a> (<span class="keyword">const</span> KdTreePtr &tree)</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  { tree_ = tree; }</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  </div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keyword">protected</span>:<span class="comment"></span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> <span class="comment"> /** \brief Filter the input data and store the results into output</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="comment"> * \param[out] output the resultant point cloud message</span></div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keywordtype">void</span></div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <a class="code" href="classpcl_1_1_bilateral_filter.html#acd9de2b9a8a4595afb761f9afd77a332">applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &output) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  </div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keyword">private</span>:<span class="comment"></span></div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span> <span class="comment"> /** \brief The bilateral filter Gaussian distance kernel.</span></div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span> <span class="comment"> * \param[in] x the spatial distance (distance or intensity)</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span> <span class="comment"> * \param[in] sigma standard deviation</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keyword">inline</span> <span class="keywordtype">double</span></div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <a class="code" href="classpcl_1_1kernel.html">kernel</a> (<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> sigma)</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  { <span class="keywordflow">return</span> (std::exp (- (x*x)/(2*sigma*sigma))); }</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> <span class="comment"></span> </div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span> <span class="comment"> /** \brief The half size of the Gaussian bilateral filter window (e.g., spatial extents in Euclidean). */</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keywordtype">double</span> sigma_s_{0.0};<span class="comment"></span></div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> <span class="comment"> /** \brief The standard deviation of the bilateral filter (e.g., standard deviation in intensity). */</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  <span class="keywordtype">double</span> sigma_r_{std::numeric_limits<double>::max ()};</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> <span class="comment"></span> </div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> <span class="comment"> /** \brief A pointer to the spatial search object. */</span></div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  KdTreePtr tree_;</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  };</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span> }</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  </div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span> <span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> <span class="preprocessor">#include <pcl/filters/impl/bilateral.hpp></span></div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> <span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html">pcl::BilateralFilter</a></div><div class="ttdoc">A bilateral filter implementation for point cloud data.</div><div class="ttdef"><b>Definition:</b> <a href="bilateral_8h_source.html#l00056">bilateral.h:57</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_a1bb1cdb0757d35279f223549c38c181c"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#a1bb1cdb0757d35279f223549c38c181c">pcl::BilateralFilter::Ptr</a></div><div class="ttdeci">shared_ptr< BilateralFilter< PointT > > Ptr</div><div class="ttdef"><b>Definition:</b> <a href="bilateral_8h_source.html#l00065">bilateral.h:65</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_a33c48632fadd95cd4cd5889b0342640b"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#a33c48632fadd95cd4cd5889b0342640b">pcl::BilateralFilter::setSearchMethod</a></div><div class="ttdeci">void setSearchMethod(const KdTreePtr &tree)</div><div class="ttdoc">Provide a pointer to the search object.</div><div class="ttdef"><b>Definition:</b> <a href="bilateral_8h_source.html#l00111">bilateral.h:111</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_a5e1455ab6c90044b98572c2078f89156"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#a5e1455ab6c90044b98572c2078f89156">pcl::BilateralFilter::getStdDev</a></div><div class="ttdeci">double getStdDev() const</div><div class="ttdoc">Get the value of the current standard deviation parameter of the bilateral filter.</div><div class="ttdef"><b>Definition:</b> <a href="bilateral_8h_source.html#l00104">bilateral.h:104</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_a60b18084e971b2dca64df73ad5594e0c"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#a60b18084e971b2dca64df73ad5594e0c">pcl::BilateralFilter::ConstPtr</a></div><div class="ttdeci">shared_ptr< const BilateralFilter< PointT > > ConstPtr</div><div class="ttdef"><b>Definition:</b> <a href="bilateral_8h_source.html#l00066">bilateral.h:66</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_a6d2043ffcb98ec957d38ac1c9746790c"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#a6d2043ffcb98ec957d38ac1c9746790c">pcl::BilateralFilter::BilateralFilter</a></div><div class="ttdeci">BilateralFilter()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="bilateral_8h_source.html#l00071">bilateral.h:71</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_ac254e5699f91bf688d21282c63f1aa67"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#ac254e5699f91bf688d21282c63f1aa67">pcl::BilateralFilter::getHalfSize</a></div><div class="ttdeci">double getHalfSize() const</div><div class="ttdoc">Get the half size of the Gaussian bilateral filter window as set by the user.</div><div class="ttdef"><b>Definition:</b> <a href="bilateral_8h_source.html#l00092">bilateral.h:92</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_acd9de2b9a8a4595afb761f9afd77a332"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#acd9de2b9a8a4595afb761f9afd77a332">pcl::BilateralFilter::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &output) override</div><div class="ttdoc">Filter the input data and store the results into output.</div><div class="ttdef"><b>Definition:</b> <a href="bilateral_8hpp_source.html#l00076">bilateral.hpp:76</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_adc9cfc0e5547a902d046da9d66c8cdc8"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#adc9cfc0e5547a902d046da9d66c8cdc8">pcl::BilateralFilter::setStdDev</a></div><div class="ttdeci">void setStdDev(const double sigma_r)</div><div class="ttdoc">Set the standard deviation parameter.</div><div class="ttdef"><b>Definition:</b> <a href="bilateral_8h_source.html#l00099">bilateral.h:99</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_afc66e9881892c38ab0583a3e794e10be"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#afc66e9881892c38ab0583a3e794e10be">pcl::BilateralFilter::setHalfSize</a></div><div class="ttdeci">void setHalfSize(const double sigma_s)</div><div class="ttdoc">Set the half size of the Gaussian bilateral filter window.</div><div class="ttdef"><b>Definition:</b> <a href="bilateral_8h_source.html#l00087">bilateral.h:87</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_filter_html_afdff640ef8260527ff9922cc02196537"><div class="ttname"><a href="classpcl_1_1_bilateral_filter.html#afdff640ef8260527ff9922cc02196537">pcl::BilateralFilter::computePointWeight</a></div><div class="ttdeci">double computePointWeight(const int pid, const Indices &indices, const std::vector< float > &distances)</div><div class="ttdoc">Compute the intensity average for a single point.</div><div class="ttdef"><b>Definition:</b> <a href="bilateral_8hpp_source.html#l00050">bilateral.hpp:50</a></div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html"><div class="ttname"><a href="classpcl_1_1_filter.html">pcl::Filter</a></div><div class="ttdoc">Filter represents the base filter class.</div><div class="ttdef"><b>Definition:</b> <a href="filters_2include_2pcl_2filters_2filter_8h_source.html#l00080">filter.h:81</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00172">point_cloud.h:173</a></div></div>
<div class="ttc" id="aclasspcl_1_1kernel_html"><div class="ttname"><a href="classpcl_1_1kernel.html">pcl::kernel</a></div><div class="ttdef"><b>Definition:</b> <a href="kernel_8h_source.html#l00046">kernel.h:46</a></div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_search_html_ab4688e4899ce5aa6937dba334dc75763"><div class="ttname"><a href="classpcl_1_1search_1_1_search.html#ab4688e4899ce5aa6937dba334dc75763">pcl::search::Search::Ptr</a></div><div class="ttdeci">shared_ptr< pcl::search::Search< PointT > > Ptr</div><div class="ttdef"><b>Definition:</b> <a href="search_8h_source.html#l00081">search.h:81</a></div></div>
<div class="ttc" id="anamespacepcl_html"><div class="ttname"><a href="namespacepcl.html">pcl</a></div><div class="ttdef"><b>Definition:</b> <a href="2d_2include_2pcl_22d_2convolution_8h_source.html#l00046">convolution.h:46</a></div></div>
<div class="ttc" id="anamespacepcl_html_a8bfe09b8680e7129dd0fd6177c1a2ce6"><div class="ttname"><a href="namespacepcl.html#a8bfe09b8680e7129dd0fd6177c1a2ce6">pcl::Indices</a></div><div class="ttdeci">IndicesAllocator<> Indices</div><div class="ttdoc">Type used for indices in PCL.</div><div class="ttdef"><b>Definition:</b> <a href="types_8h_source.html#l00133">types.h:133</a></div></div>
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