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Let me google that for you!

Long explanation: http://people.csail.mit.edu/sparis/publi/2009/fntcgv/Paris_09_Bilateral_filtering.pdf

Short explanation (taken from PCL documentation):

  • sigma_s the half size of the Gaussian bilateral filter window to use
  • sigma_r the new standard deviation parameter
  • For more information please see C. Tomasi and R. Manduchi. Bilateral Filtering for Gray and Color Images. In Proceedings of the IEEE International Conference on Computer Vision, 1998.