Point Cloud Library (PCL)  1.10.1
bilateral_upsampling.h
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39 
40 #pragma once
41 
42 #include <pcl/pcl_macros.h>
43 #include <pcl/surface/processing.h>
44 
45 namespace pcl
46 {
47 
48  /** \brief Bilateral filtering implementation, based on the following paper:
49  * * Kopf, Johannes and Cohen, Michael F. and Lischinski, Dani and Uyttendaele, Matt - Joint Bilateral Upsampling,
50  * * ACM Transactions in Graphics, July 2007
51  *
52  * Takes in a colored organized point cloud (i.e. PointXYZRGB or PointXYZRGBA), that might contain nan values for the
53  * depth information, and it will return an upsampled version of this cloud, based on the formula:
54  * \f[
55  * \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||})
56  * \f]
57  *
58  * where S is the depth image, I is the RGB image and f and g are Gaussian functions centered at 0 and with
59  * standard deviations \f$\sigma_{color}\f$ and \f$\sigma_{depth}\f$
60  */
61  template <typename PointInT, typename PointOutT>
62  class BilateralUpsampling: public CloudSurfaceProcessing<PointInT, PointOutT>
63  {
64  public:
67 
73 
75 
77 
78  /** \brief Constructor. */
80  : window_size_ (5)
81  , sigma_color_ (15.0f)
82  , sigma_depth_ (0.5f)
83  {
84  KinectVGAProjectionMatrix << 525.0f, 0.0f, 320.0f,
85  0.0f, 525.0f, 240.0f,
86  0.0f, 0.0f, 1.0f;
87  KinectSXGAProjectionMatrix << 1050.0f, 0.0f, 640.0f,
88  0.0f, 1050.0f, 480.0f,
89  0.0f, 0.0f, 1.0f;
90  };
91 
92  /** \brief Method that sets the window size for the filter
93  * \param[in] window_size the given window size
94  */
95  inline void
96  setWindowSize (int window_size) { window_size_ = window_size; }
97 
98  /** \brief Returns the filter window size */
99  inline int
100  getWindowSize () const { return (window_size_); }
101 
102  /** \brief Method that sets the sigma color parameter
103  * \param[in] sigma_color the new value to be set
104  */
105  inline void
106  setSigmaColor (const float &sigma_color) { sigma_color_ = sigma_color; }
107 
108  /** \brief Returns the current sigma color value */
109  inline float
110  getSigmaColor () const { return (sigma_color_); }
111 
112  /** \brief Method that sets the sigma depth parameter
113  * \param[in] sigma_depth the new value to be set
114  */
115  inline void
116  setSigmaDepth (const float &sigma_depth) { sigma_depth_ = sigma_depth; }
117 
118  /** \brief Returns the current sigma depth value */
119  inline float
120  getSigmaDepth () const { return (sigma_depth_); }
121 
122  /** \brief Method that sets the projection matrix to be used when unprojecting the points in the depth image
123  * back to (x,y,z) positions.
124  * \note There are 2 matrices already set in the class, used for the 2 modes available for the Kinect. They
125  * are tuned to be the same as the ones in the OpenNiGrabber
126  * \param[in] projection_matrix the new projection matrix to be set */
127  inline void
128  setProjectionMatrix (const Eigen::Matrix3f &projection_matrix) { projection_matrix_ = projection_matrix; }
129 
130  /** \brief Returns the current projection matrix */
131  inline Eigen::Matrix3f
132  getProjectionMatrix () const { return (projection_matrix_); }
133 
134  /** \brief Method that does the actual processing on the input cloud.
135  * \param[out] output the container of the resulting upsampled cloud */
136  void
137  process (pcl::PointCloud<PointOutT> &output) override;
138 
139  protected:
140  void
142 
143  /** \brief Computes the distance for depth and RGB.
144  * \param[out] val_exp_depth distance values for depth
145  * \param[out] val_exp_rgb distance values for RGB */
146  void
147  computeDistances (Eigen::MatrixXf &val_exp_depth, Eigen::VectorXf &val_exp_rgb);
148 
149  private:
150  int window_size_;
151  float sigma_color_, sigma_depth_;
152  Eigen::Matrix3f projection_matrix_, unprojection_matrix_;
153 
154  public:
156  };
157 }
pcl_macros.h
Defines all the PCL and non-PCL macros used.
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::BilateralUpsampling::performProcessing
void performProcessing(pcl::PointCloud< PointOutT > &output) override
Abstract cloud processing method.
Definition: bilateral_upsampling.hpp:86
pcl::BilateralUpsampling::KinectVGAProjectionMatrix
Eigen::Matrix3f KinectVGAProjectionMatrix
Definition: bilateral_upsampling.h:76
pcl::BilateralUpsampling::setSigmaDepth
void setSigmaDepth(const float &sigma_depth)
Method that sets the sigma depth parameter.
Definition: bilateral_upsampling.h:116
pcl::BilateralUpsampling::ConstPtr
shared_ptr< const BilateralUpsampling< PointInT, PointOutT > > ConstPtr
Definition: bilateral_upsampling.h:66
pcl::BilateralUpsampling::process
void process(pcl::PointCloud< PointOutT > &output) override
Method that does the actual processing on the input cloud.
Definition: bilateral_upsampling.hpp:48
pcl::PCLBase
PCL base class.
Definition: pcl_base.h:69
pcl::BilateralUpsampling::getSigmaColor
float getSigmaColor() const
Returns the current sigma color value.
Definition: bilateral_upsampling.h:110
pcl::PointCloud< PointOutT >
pcl::BilateralUpsampling::getProjectionMatrix
Eigen::Matrix3f getProjectionMatrix() const
Returns the current projection matrix.
Definition: bilateral_upsampling.h:132
pcl::BilateralUpsampling::BilateralUpsampling
BilateralUpsampling()
Constructor.
Definition: bilateral_upsampling.h:79
pcl::CloudSurfaceProcessing
CloudSurfaceProcessing represents the base class for algorithms that takes a point cloud as input and...
Definition: processing.h:56
PCL_MAKE_ALIGNED_OPERATOR_NEW
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: pcl_macros.h:389
pcl::BilateralUpsampling::setProjectionMatrix
void setProjectionMatrix(const Eigen::Matrix3f &projection_matrix)
Method that sets the projection matrix to be used when unprojecting the points in the depth image bac...
Definition: bilateral_upsampling.h:128
pcl::BilateralUpsampling::KinectSXGAProjectionMatrix
Eigen::Matrix3f KinectSXGAProjectionMatrix
Definition: bilateral_upsampling.h:76
pcl::BilateralUpsampling::Ptr
shared_ptr< BilateralUpsampling< PointInT, PointOutT > > Ptr
Definition: bilateral_upsampling.h:65
pcl::BilateralUpsampling::getWindowSize
int getWindowSize() const
Returns the filter window size.
Definition: bilateral_upsampling.h:100
pcl::BilateralUpsampling
Bilateral filtering implementation, based on the following paper:
Definition: bilateral_upsampling.h:62
pcl::BilateralUpsampling::setWindowSize
void setWindowSize(int window_size)
Method that sets the window size for the filter.
Definition: bilateral_upsampling.h:96
pcl::BilateralUpsampling::setSigmaColor
void setSigmaColor(const float &sigma_color)
Method that sets the sigma color parameter.
Definition: bilateral_upsampling.h:106
pcl::BilateralUpsampling::getSigmaDepth
float getSigmaDepth() const
Returns the current sigma depth value.
Definition: bilateral_upsampling.h:120
pcl::shared_ptr
boost::shared_ptr< T > shared_ptr
Alias for boost::shared_ptr.
Definition: pcl_macros.h:108
pcl::BilateralUpsampling::computeDistances
void computeDistances(Eigen::MatrixXf &val_exp_depth, Eigen::VectorXf &val_exp_rgb)
Computes the distance for depth and RGB.
Definition: bilateral_upsampling.hpp:154