Point Cloud Library (PCL)  1.14.1-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  {
82  KinectVGAProjectionMatrix << 525.0f, 0.0f, 320.0f,
83  0.0f, 525.0f, 240.0f,
84  0.0f, 0.0f, 1.0f;
85  KinectSXGAProjectionMatrix << 1050.0f, 0.0f, 640.0f,
86  0.0f, 1050.0f, 480.0f,
87  0.0f, 0.0f, 1.0f;
88  };
89 
90  /** \brief Method that sets the window size for the filter
91  * \param[in] window_size the given window size
92  */
93  inline void
94  setWindowSize (int window_size) { window_size_ = window_size; }
95 
96  /** \brief Returns the filter window size */
97  inline int
98  getWindowSize () const { return (window_size_); }
99 
100  /** \brief Method that sets the sigma color parameter
101  * \param[in] sigma_color the new value to be set
102  */
103  inline void
104  setSigmaColor (const float &sigma_color) { sigma_color_ = sigma_color; }
105 
106  /** \brief Returns the current sigma color value */
107  inline float
108  getSigmaColor () const { return (sigma_color_); }
109 
110  /** \brief Method that sets the sigma depth parameter
111  * \param[in] sigma_depth the new value to be set
112  */
113  inline void
114  setSigmaDepth (const float &sigma_depth) { sigma_depth_ = sigma_depth; }
115 
116  /** \brief Returns the current sigma depth value */
117  inline float
118  getSigmaDepth () const { return (sigma_depth_); }
119 
120  /** \brief Method that sets the projection matrix to be used when unprojecting the points in the depth image
121  * back to (x,y,z) positions.
122  * \note There are 2 matrices already set in the class, used for the 2 modes available for the Kinect. They
123  * are tuned to be the same as the ones in the OpenNiGrabber
124  * \param[in] projection_matrix the new projection matrix to be set */
125  inline void
126  setProjectionMatrix (const Eigen::Matrix3f &projection_matrix) { projection_matrix_ = projection_matrix; }
127 
128  /** \brief Returns the current projection matrix */
129  inline Eigen::Matrix3f
130  getProjectionMatrix () const { return (projection_matrix_); }
131 
132  /** \brief Method that does the actual processing on the input cloud.
133  * \param[out] output the container of the resulting upsampled cloud */
134  void
135  process (pcl::PointCloud<PointOutT> &output) override;
136 
137  protected:
138  void
140 
141  /** \brief Computes the distance for depth and RGB.
142  * \param[out] val_exp_depth distance values for depth
143  * \param[out] val_exp_rgb distance values for RGB */
144  void
145  computeDistances (Eigen::MatrixXf &val_exp_depth, Eigen::VectorXf &val_exp_rgb);
146 
147  private:
148  int window_size_{5};
149  float sigma_color_{15.0f}, sigma_depth_{0.5f};
150  Eigen::Matrix3f projection_matrix_, unprojection_matrix_;
151 
152  public:
154  };
155 }
156 #ifdef PCL_NO_PRECOMPILE
157 #include <pcl/surface/impl/bilateral_upsampling.hpp>
158 #endif
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:86
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.