Point Cloud Library (PCL)
1.7.0
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Bilateral filtering implementation, based on the following paper: * Kopf, Johannes and Cohen, Michael F. More...
#include <pcl/surface/bilateral_upsampling.h>
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. |
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:
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 and
Definition at line 63 of file bilateral_upsampling.h.
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.
typedef pcl::PointCloud<PointOutT> pcl::BilateralUpsampling< PointInT, PointOutT >::PointCloudOut |
Definition at line 75 of file bilateral_upsampling.h.
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.
pcl::BilateralUpsampling< PointInT, PointOutT >::BilateralUpsampling | ( | ) | [inline] |
Constructor.
Definition at line 80 of file bilateral_upsampling.h.
References pcl::BilateralUpsampling< PointInT, PointOutT >::KinectSXGAProjectionMatrix, and pcl::BilateralUpsampling< PointInT, PointOutT >::KinectVGAProjectionMatrix.
Eigen::Matrix3f pcl::BilateralUpsampling< PointInT, PointOutT >::getProjectionMatrix | ( | ) | const [inline] |
Returns the current projection matrix.
Definition at line 137 of file bilateral_upsampling.h.
float pcl::BilateralUpsampling< PointInT, PointOutT >::getSigmaColor | ( | ) | const [inline] |
Returns the current sigma color value.
Definition at line 115 of file bilateral_upsampling.h.
float pcl::BilateralUpsampling< PointInT, PointOutT >::getSigmaDepth | ( | ) | const [inline] |
Returns the current sigma depth value.
Definition at line 125 of file bilateral_upsampling.h.
int pcl::BilateralUpsampling< PointInT, PointOutT >::getWindowSize | ( | ) | const [inline] |
Returns the filter window size.
Definition at line 105 of file bilateral_upsampling.h.
void pcl::BilateralUpsampling< PointInT, PointOutT >::performProcessing | ( | pcl::PointCloud< PointOutT > & | output | ) | [protected, virtual] |
Abstract cloud processing method.
Implements pcl::CloudSurfaceProcessing< PointInT, PointOutT >.
Definition at line 86 of file bilateral_upsampling.hpp.
References pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::width.
void pcl::BilateralUpsampling< PointInT, PointOutT >::process | ( | pcl::PointCloud< PointOutT > & | output | ) | [virtual] |
Method that does the actual processing on the input cloud.
[out] | output | the 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.
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.
[in] | projection_matrix | the new projection matrix to be set |
Definition at line 133 of file bilateral_upsampling.h.
void pcl::BilateralUpsampling< PointInT, PointOutT >::setSigmaColor | ( | const float & | sigma_color | ) | [inline] |
Method that sets the sigma color parameter.
[in] | sigma_color | the new value to be set |
Definition at line 111 of file bilateral_upsampling.h.
void pcl::BilateralUpsampling< PointInT, PointOutT >::setSigmaDepth | ( | const float & | sigma_depth | ) | [inline] |
Method that sets the sigma depth parameter.
[in] | sigma_depth | the new value to be set |
Definition at line 121 of file bilateral_upsampling.h.
void pcl::BilateralUpsampling< PointInT, PointOutT >::setWindowSize | ( | int | window_size | ) | [inline] |
Method that sets the window size for the filter.
[in] | window_size | the given window size |
Definition at line 101 of file bilateral_upsampling.h.
Eigen::Matrix3f pcl::BilateralUpsampling< PointInT, PointOutT >::KinectSXGAProjectionMatrix |
Definition at line 77 of file bilateral_upsampling.h.
Referenced by pcl::BilateralUpsampling< PointInT, PointOutT >::BilateralUpsampling().
Eigen::Matrix3f pcl::BilateralUpsampling< PointInT, PointOutT >::KinectVGAProjectionMatrix |
Definition at line 77 of file bilateral_upsampling.h.
Referenced by pcl::BilateralUpsampling< PointInT, PointOutT >::BilateralUpsampling().