Point Cloud Library (PCL)  1.12.1-dev
bilateral_upsampling.h
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39 
40 #pragma once
41 
42 #include <pcl/memory.h>
43 #include <pcl/pcl_macros.h>
44 #include <pcl/surface/processing.h>
45 
46 namespace pcl
47 {
48 
49  /** \brief Bilateral filtering implementation, based on the following paper:
50  * * Kopf, Johannes and Cohen, Michael F. and Lischinski, Dani and Uyttendaele, Matt - Joint Bilateral Upsampling,
51  * * ACM Transactions in Graphics, July 2007
52  *
53  * Takes in a colored organized point cloud (i.e. PointXYZRGB or PointXYZRGBA), that might contain nan values for the
54  * depth information, and it will return an upsampled version of this cloud, based on the formula:
55  * \f[
56  * \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||})
57  * \f]
58  *
59  * where S is the depth image, I is the RGB image and f and g are Gaussian functions centered at 0 and with
60  * standard deviations \f$\sigma_{color}\f$ and \f$\sigma_{depth}\f$
61  */
62  template <typename PointInT, typename PointOutT>
63  class BilateralUpsampling: public CloudSurfaceProcessing<PointInT, PointOutT>
64  {
65  public:
66  using Ptr = shared_ptr<BilateralUpsampling<PointInT, PointOutT> >;
67  using ConstPtr = shared_ptr<const BilateralUpsampling<PointInT, PointOutT> >;
68 
74 
76 
78 
79  /** \brief Constructor. */
81  : window_size_ (5)
82  , sigma_color_ (15.0f)
83  , sigma_depth_ (0.5f)
84  {
85  KinectVGAProjectionMatrix << 525.0f, 0.0f, 320.0f,
86  0.0f, 525.0f, 240.0f,
87  0.0f, 0.0f, 1.0f;
88  KinectSXGAProjectionMatrix << 1050.0f, 0.0f, 640.0f,
89  0.0f, 1050.0f, 480.0f,
90  0.0f, 0.0f, 1.0f;
91  };
92 
93  /** \brief Method that sets the window size for the filter
94  * \param[in] window_size the given window size
95  */
96  inline void
97  setWindowSize (int window_size) { window_size_ = window_size; }
98 
99  /** \brief Returns the filter window size */
100  inline int
101  getWindowSize () const { return (window_size_); }
102 
103  /** \brief Method that sets the sigma color parameter
104  * \param[in] sigma_color the new value to be set
105  */
106  inline void
107  setSigmaColor (const float &sigma_color) { sigma_color_ = sigma_color; }
108 
109  /** \brief Returns the current sigma color value */
110  inline float
111  getSigmaColor () const { return (sigma_color_); }
112 
113  /** \brief Method that sets the sigma depth parameter
114  * \param[in] sigma_depth the new value to be set
115  */
116  inline void
117  setSigmaDepth (const float &sigma_depth) { sigma_depth_ = sigma_depth; }
118 
119  /** \brief Returns the current sigma depth value */
120  inline float
121  getSigmaDepth () const { return (sigma_depth_); }
122 
123  /** \brief Method that sets the projection matrix to be used when unprojecting the points in the depth image
124  * back to (x,y,z) positions.
125  * \note There are 2 matrices already set in the class, used for the 2 modes available for the Kinect. They
126  * are tuned to be the same as the ones in the OpenNiGrabber
127  * \param[in] projection_matrix the new projection matrix to be set */
128  inline void
129  setProjectionMatrix (const Eigen::Matrix3f &projection_matrix) { projection_matrix_ = projection_matrix; }
130 
131  /** \brief Returns the current projection matrix */
132  inline Eigen::Matrix3f
133  getProjectionMatrix () const { return (projection_matrix_); }
134 
135  /** \brief Method that does the actual processing on the input cloud.
136  * \param[out] output the container of the resulting upsampled cloud */
137  void
138  process (pcl::PointCloud<PointOutT> &output) override;
139 
140  protected:
141  void
143 
144  /** \brief Computes the distance for depth and RGB.
145  * \param[out] val_exp_depth distance values for depth
146  * \param[out] val_exp_rgb distance values for RGB */
147  void
148  computeDistances (Eigen::MatrixXf &val_exp_depth, Eigen::VectorXf &val_exp_rgb);
149 
150  private:
151  int window_size_;
152  float sigma_color_, sigma_depth_;
153  Eigen::Matrix3f projection_matrix_, unprojection_matrix_;
154 
155  public:
157  };
158 }
Bilateral filtering implementation, based on the following paper:
shared_ptr< BilateralUpsampling< PointInT, PointOutT > > Ptr
float getSigmaDepth() const
Returns the current sigma depth value.
Eigen::Matrix3f KinectSXGAProjectionMatrix
void computeDistances(Eigen::MatrixXf &val_exp_depth, Eigen::VectorXf &val_exp_rgb)
Computes the distance for depth and RGB.
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...
Eigen::Matrix3f getProjectionMatrix() const
Returns the current projection matrix.
shared_ptr< const BilateralUpsampling< PointInT, PointOutT > > ConstPtr
void process(pcl::PointCloud< PointOutT > &output) override
Method that does the actual processing on the input cloud.
float getSigmaColor() const
Returns the current sigma color value.
Eigen::Matrix3f KinectVGAProjectionMatrix
void performProcessing(pcl::PointCloud< PointOutT > &output) override
Abstract cloud processing method.
void setSigmaDepth(const float &sigma_depth)
Method that sets the sigma depth parameter.
void setWindowSize(int window_size)
Method that sets the window size for the filter.
void setSigmaColor(const float &sigma_color)
Method that sets the sigma color parameter.
int getWindowSize() const
Returns the filter window size.
CloudSurfaceProcessing represents the base class for algorithms that takes a point cloud as input and...
Definition: processing.h:58
PCL base class.
Definition: pcl_base.h:70
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Definition: memory.h:63
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.