Point Cloud Library (PCL) 1.12.0
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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
46namespace 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 typedef shared_ptr<BilateralUpsampling<PointInT, PointOutT> > Ptr;
67 typedef shared_ptr<const BilateralUpsampling<PointInT, PointOutT> > ConstPtr;
68
69 using PCLBase<PointInT>::input_;
70 using PCLBase<PointInT>::indices_;
71 using PCLBase<PointInT>::initCompute;
72 using PCLBase<PointInT>::deinitCompute;
73 using CloudSurfaceProcessing<PointInT, PointOutT>::process;
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:
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...
shared_ptr< const BilateralUpsampling< PointInT, PointOutT > > ConstPtr
Eigen::Matrix3f getProjectionMatrix() const
Returns the current projection matrix.
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.
shared_ptr< BilateralUpsampling< PointInT, PointOutT > > Ptr
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
PointCloudConstPtr input_
The input point cloud dataset.
Definition pcl_base.h:147
IndicesPtr indices_
A pointer to the vector of point indices to use.
Definition pcl_base.h:150
bool initCompute()
This method should get called before starting the actual computation.
Definition pcl_base.hpp:138
bool deinitCompute()
This method should get called after finishing the actual computation.
Definition pcl_base.hpp:174
#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.