Point Cloud Library (PCL)  1.7.0
Public Types | Public Member Functions | Public Attributes | Protected Member Functions
pcl::BilateralUpsampling< PointInT, PointOutT > Class Template Reference

Bilateral filtering implementation, based on the following paper: * Kopf, Johannes and Cohen, Michael F. More...

#include <pcl/surface/bilateral_upsampling.h>

+ Inheritance diagram for pcl::BilateralUpsampling< PointInT, PointOutT >:

List of all members.

Public Types

typedef boost::shared_ptr
< BilateralUpsampling
< PointInT, PointOutT > > 
Ptr
typedef boost::shared_ptr
< const BilateralUpsampling
< PointInT, PointOutT > > 
ConstPtr
typedef pcl::PointCloud
< PointOutT > 
PointCloudOut

Public Member Functions

 BilateralUpsampling ()
 Constructor.
void setWindowSize (int window_size)
 Method that sets the window size for the filter.
int getWindowSize () const
 Returns the filter window size.
void setSigmaColor (const float &sigma_color)
 Method that sets the sigma color parameter.
float getSigmaColor () const
 Returns the current sigma color value.
void setSigmaDepth (const float &sigma_depth)
 Method that sets the sigma depth parameter.
float getSigmaDepth () const
 Returns the current sigma depth value.
void setProjectionMatrix (const Eigen::Matrix3f &projection_matrix)
 Method that sets the projection matrix to be used when unprojecting the points in the depth image back to (x,y,z) positions.
Eigen::Matrix3f getProjectionMatrix () const
 Returns the current projection matrix.
void process (pcl::PointCloud< PointOutT > &output)
 Method that does the actual processing on the input cloud.

Public Attributes

Eigen::Matrix3f KinectVGAProjectionMatrix
Eigen::Matrix3f KinectSXGAProjectionMatrix

Protected Member Functions

void performProcessing (pcl::PointCloud< PointOutT > &output)
 Abstract cloud processing method.

Detailed Description

template<typename PointInT, typename PointOutT>
class pcl::BilateralUpsampling< PointInT, PointOutT >

Bilateral filtering implementation, based on the following paper: * Kopf, Johannes and Cohen, Michael F.

and Lischinski, Dani and Uyttendaele, Matt - Joint Bilateral Upsampling, * ACM Transations in Graphics, July 2007

Takes in a colored organized point cloud (i.e. PointXYZRGB or PointXYZRGBA), that might contain nan values for the depth information, and it will return an upsampled version of this cloud, based on the formula:

\[ \tilde{S}_p = \frac{1}{k_p} \sum_{q_d \in \Omega} {S_{q_d} f(||p_d - q_d|| g(||\tilde{I}_p-\tilde{I}_q||}) \]

where S is the depth image, I is the RGB image and f and g are Gaussian functions centered at 0 and with standard deviations $\sigma_{color}$ and $\sigma_{depth}$

Definition at line 63 of file bilateral_upsampling.h.


Member Typedef Documentation

template<typename PointInT , typename PointOutT >
typedef boost::shared_ptr<const BilateralUpsampling<PointInT, PointOutT> > pcl::BilateralUpsampling< PointInT, PointOutT >::ConstPtr

Reimplemented from pcl::CloudSurfaceProcessing< PointInT, PointOutT >.

Definition at line 67 of file bilateral_upsampling.h.

template<typename PointInT , typename PointOutT >
typedef pcl::PointCloud<PointOutT> pcl::BilateralUpsampling< PointInT, PointOutT >::PointCloudOut

Definition at line 75 of file bilateral_upsampling.h.

template<typename PointInT , typename PointOutT >
typedef boost::shared_ptr<BilateralUpsampling<PointInT, PointOutT> > pcl::BilateralUpsampling< PointInT, PointOutT >::Ptr

Reimplemented from pcl::CloudSurfaceProcessing< PointInT, PointOutT >.

Definition at line 66 of file bilateral_upsampling.h.


Constructor & Destructor Documentation

template<typename PointInT , typename PointOutT >
pcl::BilateralUpsampling< PointInT, PointOutT >::BilateralUpsampling ( ) [inline]

Member Function Documentation

template<typename PointInT , typename PointOutT >
Eigen::Matrix3f pcl::BilateralUpsampling< PointInT, PointOutT >::getProjectionMatrix ( ) const [inline]

Returns the current projection matrix.

Definition at line 137 of file bilateral_upsampling.h.

template<typename PointInT , typename PointOutT >
float pcl::BilateralUpsampling< PointInT, PointOutT >::getSigmaColor ( ) const [inline]

Returns the current sigma color value.

Definition at line 115 of file bilateral_upsampling.h.

template<typename PointInT , typename PointOutT >
float pcl::BilateralUpsampling< PointInT, PointOutT >::getSigmaDepth ( ) const [inline]

Returns the current sigma depth value.

Definition at line 125 of file bilateral_upsampling.h.

template<typename PointInT , typename PointOutT >
int pcl::BilateralUpsampling< PointInT, PointOutT >::getWindowSize ( ) const [inline]

Returns the filter window size.

Definition at line 105 of file bilateral_upsampling.h.

template<typename PointInT , typename PointOutT >
void pcl::BilateralUpsampling< PointInT, PointOutT >::performProcessing ( pcl::PointCloud< PointOutT > &  output) [protected, virtual]
template<typename PointInT , typename PointOutT >
void pcl::BilateralUpsampling< PointInT, PointOutT >::process ( pcl::PointCloud< PointOutT > &  output) [virtual]

Method that does the actual processing on the input cloud.

Parameters:
[out]outputthe container of the resulting upsampled cloud

Reimplemented from pcl::CloudSurfaceProcessing< PointInT, PointOutT >.

Definition at line 48 of file bilateral_upsampling.hpp.

References pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

template<typename PointInT , typename PointOutT >
void pcl::BilateralUpsampling< PointInT, PointOutT >::setProjectionMatrix ( const Eigen::Matrix3f &  projection_matrix) [inline]

Method that sets the projection matrix to be used when unprojecting the points in the depth image back to (x,y,z) positions.

Note:
There are 2 matrices already set in the class, used for the 2 modes available for the Kinect. They are tuned to be the same as the ones in the OpenNiGrabber
Parameters:
[in]projection_matrixthe new projection matrix to be set

Definition at line 133 of file bilateral_upsampling.h.

template<typename PointInT , typename PointOutT >
void pcl::BilateralUpsampling< PointInT, PointOutT >::setSigmaColor ( const float &  sigma_color) [inline]

Method that sets the sigma color parameter.

Parameters:
[in]sigma_colorthe new value to be set

Definition at line 111 of file bilateral_upsampling.h.

template<typename PointInT , typename PointOutT >
void pcl::BilateralUpsampling< PointInT, PointOutT >::setSigmaDepth ( const float &  sigma_depth) [inline]

Method that sets the sigma depth parameter.

Parameters:
[in]sigma_depththe new value to be set

Definition at line 121 of file bilateral_upsampling.h.

template<typename PointInT , typename PointOutT >
void pcl::BilateralUpsampling< PointInT, PointOutT >::setWindowSize ( int  window_size) [inline]

Method that sets the window size for the filter.

Parameters:
[in]window_sizethe given window size

Definition at line 101 of file bilateral_upsampling.h.


Member Data Documentation

template<typename PointInT , typename PointOutT >
Eigen::Matrix3f pcl::BilateralUpsampling< PointInT, PointOutT >::KinectSXGAProjectionMatrix
template<typename PointInT , typename PointOutT >
Eigen::Matrix3f pcl::BilateralUpsampling< PointInT, PointOutT >::KinectVGAProjectionMatrix

The documentation for this class was generated from the following files: