Point Cloud Library (PCL)
1.7.0
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Bilateral filtering implementation, based on the following paper: 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 |
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typedef boost::shared_ptr < CloudSurfaceProcessing < PointInT, PointOutT > > | Ptr |
typedef boost::shared_ptr < const CloudSurfaceProcessing < PointInT, PointOutT > > | ConstPtr |
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typedef pcl::PointCloud< PointInT > | PointCloud |
typedef PointCloud::Ptr | PointCloudPtr |
typedef PointCloud::ConstPtr | PointCloudConstPtr |
typedef boost::shared_ptr < PointIndices > | PointIndicesPtr |
typedef boost::shared_ptr < PointIndices const > | PointIndicesConstPtr |
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) |
Method that does the actual processing on the input cloud. More... | |
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CloudSurfaceProcessing () | |
Constructor. More... | |
virtual | ~CloudSurfaceProcessing () |
Empty destructor. More... | |
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PCLBase () | |
Empty constructor. More... | |
PCLBase (const PCLBase &base) | |
Copy constructor. More... | |
virtual | ~PCLBase () |
Destructor. More... | |
virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
Provide a pointer to the input dataset. More... | |
PointCloudConstPtr const | getInputCloud () |
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 (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols) |
Set the indices for the points laying within an interest region of the point cloud. More... | |
IndicesPtr const | getIndices () |
Get a pointer to the vector of indices used. More... | |
const PointInT & | operator[] (size_t pos) |
Override PointCloud operator[] to shorten code. More... | |
Public Attributes | |
Eigen::Matrix3f | KinectVGAProjectionMatrix |
Eigen::Matrix3f | KinectSXGAProjectionMatrix |
Protected Member Functions | |
void | performProcessing (pcl::PointCloud< PointOutT > &output) |
Abstract cloud processing method. More... | |
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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 | |
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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... | |
Bilateral filtering implementation, based on the following paper:
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 |
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 |
Definition at line 66 of file bilateral_upsampling.h.
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inline |
Constructor.
Definition at line 80 of file bilateral_upsampling.h.
References pcl::BilateralUpsampling< PointInT, PointOutT >::KinectSXGAProjectionMatrix, and pcl::BilateralUpsampling< PointInT, PointOutT >::KinectVGAProjectionMatrix.
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Returns the current projection matrix.
Definition at line 137 of file bilateral_upsampling.h.
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Returns the current sigma color value.
Definition at line 115 of file bilateral_upsampling.h.
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Returns the current sigma depth value.
Definition at line 125 of file bilateral_upsampling.h.
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Returns the filter window size.
Definition at line 105 of file bilateral_upsampling.h.
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protectedvirtual |
Abstract cloud processing method.
Implements pcl::CloudSurfaceProcessing< PointInT, PointOutT >.
Definition at line 86 of file bilateral_upsampling.hpp.
References pcl::PointCloud< T >::header, pcl::PointCloud< T >::height, pcl::PointCloud< T >::points, pcl::PointCloud< T >::resize(), and pcl::PointCloud< T >::width.
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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< T >::header, pcl::PointCloud< T >::height, pcl::PointCloud< T >::points, and pcl::PointCloud< T >::width.
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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.
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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.
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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.
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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().