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

#include <pcl/surface/bilateral_upsampling.h>

Inheritance diagram for pcl::BilateralUpsampling< PointInT, PointOutT >:

Collaboration diagram for pcl::BilateralUpsampling< PointInT, PointOutT >:

Public Types
using	Ptr = shared_ptr< BilateralUpsampling< PointInT, PointOutT > >

using	ConstPtr = shared_ptr< const BilateralUpsampling< PointInT, PointOutT > >

using	PointCloudOut = pcl::PointCloud< PointOutT >

Public Types inherited from pcl::CloudSurfaceProcessing< PointInT, PointOutT >
using	Ptr = shared_ptr< CloudSurfaceProcessing< PointInT, PointOutT > >

using	ConstPtr = shared_ptr< const CloudSurfaceProcessing< PointInT, PointOutT > >

Public Types inherited from pcl::PCLBase< PointInT >
using	PointCloud = pcl::PointCloud< PointInT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

using	PointIndicesPtr = PointIndices::Ptr

using	PointIndicesConstPtr = PointIndices::ConstPtr

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) override
	Method that does the actual processing on the input cloud. More...

Public Member Functions inherited from pcl::CloudSurfaceProcessing< PointInT, PointOutT >
	CloudSurfaceProcessing ()
	Constructor. More...

	~CloudSurfaceProcessing () override=default
	Empty destructor. More...

Public Member Functions inherited from pcl::PCLBase< PointInT >
	PCLBase ()
	Empty constructor. More...

	PCLBase (const PCLBase &base)
	Copy constructor. More...

virtual	~PCLBase ()=default
	Destructor. More...

virtual void	setInputCloud (const PointCloudConstPtr &cloud)
	Provide a pointer to the input dataset. More...

PointCloudConstPtr const	getInputCloud () const
	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 (std::size_t row_start, std::size_t col_start, std::size_t nb_rows, std::size_t nb_cols)
	Set the indices for the points laying within an interest region of the point cloud. More...

IndicesPtr	getIndices ()
	Get a pointer to the vector of indices used. More...

IndicesConstPtr const	getIndices () const
	Get a pointer to the vector of indices used. More...

const PointInT &	operator[] (std::size_t pos) const
	Override PointCloud operator[] to shorten code. More...

Public Attributes
Eigen::Matrix3f	KinectVGAProjectionMatrix

Eigen::Matrix3f	KinectSXGAProjectionMatrix

Protected Member Functions
void	performProcessing (pcl::PointCloud< PointOutT > &output) override
	Abstract cloud processing method. More...

void	computeDistances (Eigen::MatrixXf &val_exp_depth, Eigen::VectorXf &val_exp_rgb)
	Computes the distance for depth and RGB. More...

Protected Member Functions inherited from pcl::PCLBase< PointInT >
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
Protected Attributes inherited from pcl::PCLBase< PointInT >
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...

Detailed Description

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

Bilateral filtering implementation, based on the following paper:

Kopf, Johannes and Cohen, Michael F. and Lischinski, Dani and Uyttendaele, Matt - Joint Bilateral Upsampling,
ACM Transactions in Graphics, July 2007

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:

$\tilde{S}_p = \frac{1}{k_p} \sum_{q_d \in \Omega} {S_{q_d} f(||p_d - q_d|| g(||\tilde{I}_p-\tilde{I}_q||})$

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

◆ ConstPtr

template<typename PointInT , typename PointOutT >

using pcl::BilateralUpsampling< PointInT, PointOutT >::ConstPtr = shared_ptr<const BilateralUpsampling<PointInT, PointOutT> >

Definition at line 67 of file bilateral_upsampling.h.

◆ PointCloudOut

template<typename PointInT , typename PointOutT >

using pcl::BilateralUpsampling< PointInT, PointOutT >::PointCloudOut = pcl::PointCloud<PointOutT>

Definition at line 75 of file bilateral_upsampling.h.

◆ Ptr

template<typename PointInT , typename PointOutT >

using pcl::BilateralUpsampling< PointInT, PointOutT >::Ptr = shared_ptr<BilateralUpsampling<PointInT, PointOutT> >

Definition at line 66 of file bilateral_upsampling.h.

Constructor & Destructor Documentation

◆ BilateralUpsampling()

template<typename PointInT , typename PointOutT >

pcl::BilateralUpsampling< PointInT, PointOutT >::BilateralUpsampling ( )

inline

Constructor.

Definition at line 80 of file bilateral_upsampling.h.

References pcl::BilateralUpsampling< PointInT, PointOutT >::KinectSXGAProjectionMatrix, and pcl::BilateralUpsampling< PointInT, PointOutT >::KinectVGAProjectionMatrix.

Member Function Documentation

◆ computeDistances()

template<typename PointInT , typename PointOutT >

void pcl::BilateralUpsampling< PointInT, PointOutT >::computeDistances	(	Eigen::MatrixXf &	val_exp_depth,
		Eigen::VectorXf &	val_exp_rgb
	)

protected

Computes the distance for depth and RGB.

Parameters

[out]	val_exp_depth	distance values for depth
[out]	val_exp_rgb	distance values for RGB

Definition at line 156 of file bilateral_upsampling.hpp.

◆ getProjectionMatrix()

template<typename PointInT , typename PointOutT >

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

inline

Returns the current projection matrix.

Definition at line 130 of file bilateral_upsampling.h.

◆ getSigmaColor()

template<typename PointInT , typename PointOutT >

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

inline

Returns the current sigma color value.

Definition at line 108 of file bilateral_upsampling.h.

◆ getSigmaDepth()

template<typename PointInT , typename PointOutT >

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

inline

Returns the current sigma depth value.

Definition at line 118 of file bilateral_upsampling.h.

◆ getWindowSize()

template<typename PointInT , typename PointOutT >

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

inline

Returns the filter window size.

Definition at line 98 of file bilateral_upsampling.h.

◆ performProcessing()

template<typename PointInT , typename PointOutT >

void pcl::BilateralUpsampling< PointInT, PointOutT >::performProcessing ( pcl::PointCloud< PointOutT > & output )

overrideprotectedvirtual

Abstract cloud processing method.

Implements pcl::CloudSurfaceProcessing< PointInT, PointOutT >.

Definition at line 88 of file bilateral_upsampling.hpp.

References pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::resize(), and pcl::PointCloud< PointT >::width.

◆ process()

template<typename PointInT , typename PointOutT >

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

overridevirtual

Method that does the actual processing on the input cloud.

Parameters

[out] output the container of the resulting upsampled cloud

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

Definition at line 50 of file bilateral_upsampling.hpp.

References pcl::PointCloud< PointT >::clear(), pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, and pcl::PointCloud< PointT >::width.

◆ setProjectionMatrix()

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_matrix the new projection matrix to be set

Definition at line 126 of file bilateral_upsampling.h.

◆ setSigmaColor()

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_color the new value to be set

Definition at line 104 of file bilateral_upsampling.h.

◆ setSigmaDepth()

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_depth the new value to be set

Definition at line 114 of file bilateral_upsampling.h.

◆ setWindowSize()

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_size the given window size

Definition at line 94 of file bilateral_upsampling.h.

Member Data Documentation

◆ KinectSXGAProjectionMatrix

template<typename PointInT , typename PointOutT >

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

Definition at line 77 of file bilateral_upsampling.h.

Referenced by pcl::BilateralUpsampling< PointInT, PointOutT >::BilateralUpsampling().

◆ KinectVGAProjectionMatrix

template<typename PointInT , typename PointOutT >

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

Definition at line 77 of file bilateral_upsampling.h.

Referenced by pcl::BilateralUpsampling< PointInT, PointOutT >::BilateralUpsampling().

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

pcl/surface/bilateral_upsampling.h
pcl/surface/impl/bilateral_upsampling.hpp

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Additional Inherited Members

Detailed Description

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

Member Typedef Documentation

◆ ConstPtr

◆ PointCloudOut

◆ Ptr

Constructor & Destructor Documentation

◆ BilateralUpsampling()

Member Function Documentation

◆ computeDistances()

◆ getProjectionMatrix()

◆ getSigmaColor()

◆ getSigmaDepth()

◆ getWindowSize()

◆ performProcessing()

◆ process()

◆ setProjectionMatrix()

◆ setSigmaColor()

◆ setSigmaDepth()

◆ setWindowSize()

Member Data Documentation

◆ KinectSXGAProjectionMatrix

◆ KinectVGAProjectionMatrix

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