Point Cloud Library (PCL)  1.6.0
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pcl::BilateralUpsampling< PointInT, PointOutT > Class Template Reference

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

#include <pcl/surface/bilateral_upsampling.h>

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Public Types

typedef pcl::PointCloud
< PointOutT > 		PointCloudOut
 
typedef pcl::PointCloud< PointInT > PointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef PointIndices::Ptr PointIndicesPtr
 
typedef PointIndices::ConstPtr 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...
 
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...
 
void setIndices (const IndicesPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
void setIndices (const IndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
void setIndices (const PointIndicesConstPtr &indices)
 Provide a pointer to the vector of indices that represents the input data. More...
 
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
 

Detailed Description

template<typename PointInT, typename PointOutT>
class pcl::BilateralUpsampling< PointInT, PointOutT >

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 returned 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

typedef pcl::PointCloud<PointInT > pcl::PCLBase< PointInT >::PointCloud
inherited

Definition at line 74 of file pcl_base.h.

typedef PointCloud::ConstPtr pcl::PCLBase< PointInT >::PointCloudConstPtr
inherited

Definition at line 76 of file pcl_base.h.

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

Definition at line 72 of file bilateral_upsampling.h.

typedef PointCloud::Ptr pcl::PCLBase< PointInT >::PointCloudPtr
inherited

Definition at line 75 of file pcl_base.h.

typedef PointIndices::ConstPtr pcl::PCLBase< PointInT >::PointIndicesConstPtr
inherited

Definition at line 79 of file pcl_base.h.

typedef PointIndices::Ptr pcl::PCLBase< PointInT >::PointIndicesPtr
inherited

Definition at line 78 of file pcl_base.h.

Constructor & Destructor Documentation

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

Constructor.

Definition at line 77 of file bilateral_upsampling.h.

Member Function Documentation

IndicesPtr const pcl::PCLBase< PointInT >::getIndices ( )
inlineinherited

Get a pointer to the vector of indices used.

Definition at line 190 of file pcl_base.h.

PointCloudConstPtr const pcl::PCLBase< PointInT >::getInputCloud ( )
inlineinherited

Get a pointer to the input point cloud dataset.

Definition at line 107 of file pcl_base.h.

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

Returns the current projection matrix.

Definition at line 134 of file bilateral_upsampling.h.

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

Returns the current sigma color value.

Definition at line 112 of file bilateral_upsampling.h.

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

Returns the current sigma depth value.

Definition at line 122 of file bilateral_upsampling.h.

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

Returns the filter window size.

Definition at line 102 of file bilateral_upsampling.h.

const PointInT & pcl::PCLBase< PointInT >::operator[] ( size_t  pos)
inlineinherited

Override PointCloud operator[] to shorten code.

Note
this method can be called instead of (*input_)[(*indices_)[pos]] or input_->points[(*indices_)[pos]]
Parameters
posposition in indices_ vector

Definition at line 197 of file pcl_base.h.

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

Method that does the actual processing on the input cloud.

Parameters
[out]outputthe container of the resulting upsampled cloud

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

Definition at line 49 of file bilateral_upsampling.hpp.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesPtr &  indices)
inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters
indicesa pointer to the vector of indices that represents the input data.

Definition at line 113 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const IndicesConstPtr &  indices)
inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters
indicesa pointer to the vector of indices that represents the input data.

Definition at line 124 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( const PointIndicesConstPtr &  indices)
inlineinherited

Provide a pointer to the vector of indices that represents the input data.

Parameters
indicesa pointer to the vector of indices that represents the input data.

Definition at line 135 of file pcl_base.h.

void pcl::PCLBase< PointInT >::setIndices ( size_t  row_start,
size_t  col_start,
size_t  nb_rows,
size_t  nb_cols 
)
inlineinherited

Set the indices for the points laying within an interest region of the point cloud.

Note
you shouldn't call this method on unorganized point clouds!
Parameters
row_startthe offset on rows
col_startthe offset on columns
nb_rowsthe number of rows to be considered row_start included
nb_colsthe number of columns to be considered col_start included

Definition at line 151 of file pcl_base.h.

virtual void pcl::PCLBase< PointInT >::setInputCloud ( const PointCloudConstPtr &  cloud)
inlinevirtualinherited

Provide a pointer to the input dataset.

Parameters
cloudthe const boost shared pointer to a PointCloud message

Definition at line 103 of file pcl_base.h.

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_matrixthe new projection matrix to be set

Definition at line 130 of file bilateral_upsampling.h.

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_colorthe new value to be set

Definition at line 108 of file bilateral_upsampling.h.

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_depththe new value to be set

Definition at line 118 of file bilateral_upsampling.h.

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_sizethe given window size

Definition at line 98 of file bilateral_upsampling.h.

Member Data Documentation

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

Definition at line 74 of file bilateral_upsampling.h.

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

Definition at line 74 of file bilateral_upsampling.h.

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