44 #include <pcl/surface/processing.h>
62 template <
typename Po
intInT,
typename Po
intOutT>
66 using Ptr = shared_ptr<BilateralUpsampling<PointInT, PointOutT> >;
67 using ConstPtr = shared_ptr<const BilateralUpsampling<PointInT, PointOutT> >;
86 0.0f, 1050.0f, 480.0f,
126 setProjectionMatrix (
const Eigen::Matrix3f &projection_matrix) { projection_matrix_ = projection_matrix; }
129 inline Eigen::Matrix3f
145 computeDistances (Eigen::MatrixXf &val_exp_depth, Eigen::VectorXf &val_exp_rgb);
149 float sigma_color_{15.0f}, sigma_depth_{0.5f};
150 Eigen::Matrix3f projection_matrix_, unprojection_matrix_;
156 #ifdef PCL_NO_PRECOMPILE
157 #include <pcl/surface/impl/bilateral_upsampling.hpp>
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
BilateralUpsampling()
Constructor.
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...
#define PCL_MAKE_ALIGNED_OPERATOR_NEW
Macro to signal a class requires a custom allocator.
Defines functions, macros and traits for allocating and using memory.
Defines all the PCL and non-PCL macros used.