fast_bilateral_omp.h

/*
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 * Point Cloud Library (PCL) - www.pointclouds.org
 * Copyright (c) 2012-, Open Perception, Inc.
 * 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 $
 *
 */
 
#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