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Bilateral filtering implementation, based on the following paper: More...

#include <pcl/surface/bilateral_upsampling.h>

Public Types

typedef shared_ptr< BilateralUpsampling< PointInT, PointOutT > > Ptr
typedef shared_ptr< const BilateralUpsampling< PointInT, PointOutT > > ConstPtr
using PointCloudOut = pcl::PointCloud< PointOutT >
- Public Types inherited from pcl::CloudSurfaceProcessing< PointInT, PointOutT >
typedef shared_ptr< CloudSurfaceProcessing< PointInT, PointOutT > > Ptr
typedef shared_ptr< const CloudSurfaceProcessing< PointInT, PointOutT > > ConstPtr
- Public Types inherited from pcl::PCLBase< PointInT >
using PointCloud = pcl::PointCloud< PointInT >
using PointCloudPtr = typename PointCloud::Ptr
using PointCloudConstPtr = typename PointCloud::ConstPtr
using PointIndicesPtr = PointIndices::Ptr
using PointIndicesConstPtr = PointIndices::ConstPtr

Public Member Functions

BilateralUpsampling ()
Constructor. More...
void setWindowSize (int window_size)
Method that sets the window size for the filter. More...
int getWindowSize () const
Returns the filter window size. More...
void setSigmaColor (const float &sigma_color)
Method that sets the sigma color parameter. More...
float getSigmaColor () const
Returns the current sigma color value. More...
void setSigmaDepth (const float &sigma_depth)
Method that sets the sigma depth parameter. More...
float getSigmaDepth () const
Returns the current sigma depth value. More...
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. More...
Eigen::Matrix3f getProjectionMatrix () const
Returns the current projection matrix. More...
void process (pcl::PointCloud< PointOutT > &output) override
Method that does the actual processing on the input cloud. More...
- Public Member Functions inherited from pcl::CloudSurfaceProcessing< PointInT, PointOutT >
CloudSurfaceProcessing ()
Constructor. More...
~CloudSurfaceProcessing ()
Empty destructor. More...
- Public Member Functions inherited from pcl::PCLBase< PointInT >
PCLBase ()
Empty constructor. More...
PCLBase (const PCLBase &base)
Copy constructor. More...
virtual ~PCLBase ()=default
Destructor. More...
virtual void setInputCloud (const PointCloudConstPtr &cloud)
Provide a pointer to the input dataset. More...
const PointCloudConstPtr getInputCloud () const
Get a pointer to the input point cloud dataset. More...
virtual void setIndices (const IndicesPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (const IndicesConstPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (const PointIndicesConstPtr &indices)
Provide a pointer to the vector of indices that represents the input data. More...
virtual void setIndices (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
Set the indices for the points laying within an interest region of the point cloud. More...
IndicesPtr getIndices ()
Get a pointer to the vector of indices used. More...
const IndicesConstPtr getIndices () const
Get a pointer to the vector of indices used. More...
const PointInT & operator[] (std::size_t pos) const
Override PointCloud operator[] to shorten code. More...

Public Attributes

Eigen::Matrix3f KinectVGAProjectionMatrix
Eigen::Matrix3f KinectSXGAProjectionMatrix

Protected Member Functions

void performProcessing (pcl::PointCloud< PointOutT > &output) override
Abstract cloud processing method. More...
void computeDistances (Eigen::MatrixXf &val_exp_depth, Eigen::VectorXf &val_exp_rgb)
Computes the distance for depth and RGB. More...
- Protected Member Functions inherited from pcl::PCLBase< PointInT >
bool initCompute ()
This method should get called before starting the actual computation. More...
bool deinitCompute ()
This method should get called after finishing the actual computation. More...

Additional Inherited Members

- Protected Attributes inherited from pcl::PCLBase< PointInT >
PointCloudConstPtr input_
The input point cloud dataset. More...
IndicesPtr indices_
A pointer to the vector of point indices to use. More...
bool use_indices_
Set to true if point indices are used. More...
bool fake_indices_
If no set of indices are given, we construct a set of fake indices that mimic the input PointCloud. More...

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 Transactions 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

ConstPtr

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

Definition at line 67 of file bilateral_upsampling.h.

PointCloudOut

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

Definition at line 75 of file bilateral_upsampling.h.

Ptr

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

Definition at line 66 of file bilateral_upsampling.h.

Constructor & Destructor Documentation

BilateralUpsampling()

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

Member Function Documentation

computeDistances()

template<typename PointInT , typename PointOutT >
void pcl::BilateralUpsampling< PointInT, PointOutT >::computeDistances ( Eigen::MatrixXf & val_exp_depth,
Eigen::VectorXf & val_exp_rgb
)
protected

Computes the distance for depth and RGB.

Parameters
[out] val_exp_depth distance values for depth
[out] val_exp_rgb distance values for RGB

Definition at line 156 of file bilateral_upsampling.hpp.

getProjectionMatrix()

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

Returns the current projection matrix.

Definition at line 133 of file bilateral_upsampling.h.

getSigmaColor()

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

Returns the current sigma color value.

Definition at line 111 of file bilateral_upsampling.h.

getSigmaDepth()

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

Returns the current sigma depth value.

Definition at line 121 of file bilateral_upsampling.h.

getWindowSize()

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

Returns the filter window size.

Definition at line 101 of file bilateral_upsampling.h.

performProcessing()

template<typename PointInT , typename PointOutT >
void pcl::BilateralUpsampling< PointInT, PointOutT >::performProcessing ( pcl::PointCloud< PointOutT > & output )
overrideprotectedvirtual

process()

template<typename PointInT , typename PointOutT >
void pcl::BilateralUpsampling< PointInT, PointOutT >::process ( pcl::PointCloud< PointOutT > & output )
overridevirtual

Method that does the actual processing on the input cloud.

Parameters
[out] output the container of the resulting upsampled cloud

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

Definition at line 50 of file bilateral_upsampling.hpp.

References pcl::PointCloud< PointT >::clear(), pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, and pcl::PointCloud< PointT >::width.

setProjectionMatrix()

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_matrix the new projection matrix to be set

Definition at line 129 of file bilateral_upsampling.h.

setSigmaColor()

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_color the new value to be set

Definition at line 107 of file bilateral_upsampling.h.

setSigmaDepth()

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_depth the new value to be set

Definition at line 117 of file bilateral_upsampling.h.

setWindowSize()

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_size the given window size

Definition at line 97 of file bilateral_upsampling.h.

Member Data Documentation

KinectSXGAProjectionMatrix

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

KinectVGAProjectionMatrix

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

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

© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_bilateral_upsampling.html