bilateral.h

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#ifndef PCL_FILTERS_BILATERAL_H_
#define PCL_FILTERS_BILATERAL_H_

#include <pcl/filters/filter.h>
#include <pcl/search/pcl_search.h>

namespace pcl
{
  template<typename PointT>
  class BilateralFilter : public Filter<PointT>
  {
    using Filter<PointT>::input_;
    using Filter<PointT>::indices_;
    typedef typename Filter<PointT>::PointCloud PointCloud;
    typedef typename pcl::search::Search<PointT>::Ptr KdTreePtr;

    public:
      BilateralFilter () : sigma_s_ (0), 
                           sigma_r_ (std::numeric_limits<double>::max ()),
                           tree_ ()
      {
      }


      void
      applyFilter (PointCloud &output);

      double 
      computePointWeight (const int pid, const std::vector<int> &indices, const std::vector<float> &distances);

      inline void 
      setHalfSize (const double sigma_s)
      {
        sigma_s_ = sigma_s;
      }

      double 
      getHalfSize ()
      {
        return (sigma_s_);
      }

      void
      setStdDev (const double sigma_r)
      {
        sigma_r_ = sigma_r;
      }

      double 
      getStdDev ()
      {
        return (sigma_r_);
      }

      void
      setSearchMethod (const KdTreePtr &tree)
      {
        tree_ = tree;
      }

    private:

      inline double
      kernel (double x, double sigma)
      {
        return (exp (- (x*x)/(2*sigma*sigma)));
      }

      double sigma_s_;
      double sigma_r_;

      KdTreePtr tree_;
  };
}

#endif // PCL_FILTERS_BILATERAL_H_