Point Cloud Library (PCL)  1.7.0
/tmp/buildd/pcl-1.7-1.7.0/surface/include/pcl/surface/bilateral_upsampling.h
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00039 
00040 
00041 #ifndef PCL_SURFACE_BILATERAL_UPSAMPLING_H_
00042 #define PCL_SURFACE_BILATERAL_UPSAMPLING_H_
00043 
00044 #include <pcl/surface/processing.h>
00045 
00046 namespace pcl
00047 {
00048 
00049   /** \brief Bilateral filtering implementation, based on the following paper:
00050     *   * Kopf, Johannes and Cohen, Michael F. and Lischinski, Dani and Uyttendaele, Matt - Joint Bilateral Upsampling,
00051     *   * ACM Transations in Graphics, July 2007
00052     *
00053     * Takes in a colored organized point cloud (i.e. PointXYZRGB or PointXYZRGBA), that might contain nan values for the
00054     * depth information, and it will return an upsampled version of this cloud, based on the formula:
00055     * \f[
00056     *    \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||})
00057     * \f]
00058     *
00059     * where S is the depth image, I is the RGB image and f and g are Gaussian functions centered at 0 and with
00060     * standard deviations \f$\sigma_{color}\f$ and \f$\sigma_{depth}\f$
00061     */
00062   template <typename PointInT, typename PointOutT>
00063   class BilateralUpsampling: public CloudSurfaceProcessing<PointInT, PointOutT>
00064   {
00065     public:
00066       typedef boost::shared_ptr<BilateralUpsampling<PointInT, PointOutT> > Ptr;
00067       typedef boost::shared_ptr<const BilateralUpsampling<PointInT, PointOutT> > ConstPtr;
00068 
00069       using PCLBase<PointInT>::input_;
00070       using PCLBase<PointInT>::indices_;
00071       using PCLBase<PointInT>::initCompute;
00072       using PCLBase<PointInT>::deinitCompute;
00073       using CloudSurfaceProcessing<PointInT, PointOutT>::process;
00074 
00075       typedef pcl::PointCloud<PointOutT> PointCloudOut;
00076 
00077       Eigen::Matrix3f KinectVGAProjectionMatrix, KinectSXGAProjectionMatrix;
00078 
00079       /** \brief Constructor. */
00080       BilateralUpsampling () 
00081         : KinectVGAProjectionMatrix ()
00082         , KinectSXGAProjectionMatrix ()
00083         , window_size_ (5)
00084         , sigma_color_ (15.0f)
00085         , sigma_depth_ (0.5f)
00086         , projection_matrix_ ()
00087         , unprojection_matrix_ ()
00088       {
00089         KinectVGAProjectionMatrix << 525.0f, 0.0f, 320.0f,
00090                                      0.0f, 525.0f, 240.0f,
00091                                      0.0f, 0.0f, 1.0f;
00092         KinectSXGAProjectionMatrix << 1050.0f, 0.0f, 640.0f,
00093                                       0.0f, 1050.0f, 480.0f,
00094                                       0.0f, 0.0f, 1.0f;
00095       };
00096 
00097       /** \brief Method that sets the window size for the filter
00098         * \param[in] window_size the given window size
00099         */
00100       inline void
00101       setWindowSize (int window_size) { window_size_ = window_size; }
00102 
00103       /** \brief Returns the filter window size */
00104       inline int
00105       getWindowSize () const { return (window_size_); }
00106 
00107       /** \brief Method that sets the sigma color parameter
00108         * \param[in] sigma_color the new value to be set
00109         */
00110       inline void
00111       setSigmaColor (const float &sigma_color) { sigma_color_ = sigma_color; }
00112 
00113       /** \brief Returns the current sigma color value */
00114       inline float
00115       getSigmaColor () const { return (sigma_color_); }
00116 
00117       /** \brief Method that sets the sigma depth parameter
00118         * \param[in] sigma_depth the new value to be set
00119         */
00120       inline void
00121       setSigmaDepth (const float &sigma_depth) { sigma_depth_ = sigma_depth; }
00122 
00123       /** \brief Returns the current sigma depth value */
00124       inline float
00125       getSigmaDepth () const { return (sigma_depth_); }
00126 
00127       /** \brief Method that sets the projection matrix to be used when unprojecting the points in the depth image
00128         * back to (x,y,z) positions.
00129         * \note There are 2 matrices already set in the class, used for the 2 modes available for the Kinect. They
00130         * are tuned to be the same as the ones in the OpenNiGrabber
00131         * \param[in] projection_matrix the new projection matrix to be set */
00132       inline void
00133       setProjectionMatrix (const Eigen::Matrix3f &projection_matrix) { projection_matrix_ = projection_matrix; }
00134 
00135       /** \brief Returns the current projection matrix */
00136       inline Eigen::Matrix3f
00137       getProjectionMatrix () const { return (projection_matrix_); }
00138 
00139       /** \brief Method that does the actual processing on the input cloud.
00140         * \param[out] output the container of the resulting upsampled cloud */
00141       void
00142       process (pcl::PointCloud<PointOutT> &output);
00143 
00144     protected:
00145       void
00146       performProcessing (pcl::PointCloud<PointOutT> &output);
00147 
00148     private:
00149       int window_size_;
00150       float sigma_color_, sigma_depth_;
00151       Eigen::Matrix3f projection_matrix_, unprojection_matrix_;
00152 
00153     public:
00154       EIGEN_MAKE_ALIGNED_OPERATOR_NEW
00155   };
00156 }
00157 
00158 #endif /* PCL_SURFACE_BILATERAL_UPSAMPLING_H_ */