Point Cloud Library (PCL)  1.9.1-dev
List of all members | Public Types | Public Member Functions | Public Attributes | Protected Member Functions
pcl::BilateralUpsampling< PointInT, PointOutT > Class Template Reference

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

#include <pcl/surface/bilateral_upsampling.h>

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

Public Types

typedef boost::shared_ptr< BilateralUpsampling< PointInT, PointOutT > > Ptr
 
typedef boost::shared_ptr< const BilateralUpsampling< PointInT, PointOutT > > ConstPtr
 
typedef pcl::PointCloud< PointOutT > PointCloudOut
 
- Public Types inherited from pcl::CloudSurfaceProcessing< PointInT, PointOutT >
typedef boost::shared_ptr< CloudSurfaceProcessing< PointInT, PointOutT > > Ptr
 
typedef boost::shared_ptr< const CloudSurfaceProcessing< PointInT, PointOutT > > ConstPtr
 
- Public Types inherited from pcl::PCLBase< PointInT >
typedef pcl::PointCloud< PointInT > PointCloud
 
typedef PointCloud::Ptr PointCloudPtr
 
typedef PointCloud::ConstPtr PointCloudConstPtr
 
typedef boost::shared_ptr< PointIndicesPointIndicesPtr
 
typedef boost::shared_ptr< PointIndices const > PointIndicesConstPtr
 

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)
 Method that does the actual processing on the input cloud. More...
 
- Public Member Functions inherited from pcl::CloudSurfaceProcessing< PointInT, PointOutT >
 CloudSurfaceProcessing ()
 Constructor. More...
 
virtual ~CloudSurfaceProcessing ()
 Empty destructor. More...
 
- Public Member Functions inherited from pcl::PCLBase< PointInT >
 PCLBase ()
 Empty constructor. More...
 
 PCLBase (const PCLBase &base)
 Copy constructor. More...
 
virtual ~PCLBase ()
 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 (size_t row_start, size_t col_start, size_t nb_rows, size_t nb_cols)
 Set the indices for the points laying within an interest region of the point cloud. More...
 
IndicesPtr const 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[] (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)
 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:

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 61 of file bilateral_upsampling.h.

Member Typedef Documentation

template<typename PointInT , typename PointOutT >
typedef boost::shared_ptr<const BilateralUpsampling<PointInT, PointOutT> > pcl::BilateralUpsampling< PointInT, PointOutT >::ConstPtr

Definition at line 65 of file bilateral_upsampling.h.

template<typename PointInT , typename PointOutT >
typedef pcl::PointCloud<PointOutT> pcl::BilateralUpsampling< PointInT, PointOutT >::PointCloudOut

Definition at line 73 of file bilateral_upsampling.h.

template<typename PointInT , typename PointOutT >
typedef boost::shared_ptr<BilateralUpsampling<PointInT, PointOutT> > pcl::BilateralUpsampling< PointInT, PointOutT >::Ptr

Definition at line 64 of file bilateral_upsampling.h.

Constructor & Destructor Documentation

template<typename PointInT , typename PointOutT >
pcl::BilateralUpsampling< PointInT, PointOutT >::BilateralUpsampling ( )
inline

Constructor.

Definition at line 78 of file bilateral_upsampling.h.

Member Function Documentation

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_depthdistance values for depth
[out]val_exp_rgbdistance values for RGB

Definition at line 154 of file bilateral_upsampling.hpp.

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

template<typename PointInT , typename PointOutT >
Eigen::Matrix3f pcl::BilateralUpsampling< PointInT, PointOutT >::getProjectionMatrix ( ) const
inline
template<typename PointInT , typename PointOutT >
float pcl::BilateralUpsampling< PointInT, PointOutT >::getSigmaColor ( ) const
inline

Returns the current sigma color value.

Definition at line 113 of file bilateral_upsampling.h.

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

Returns the current sigma depth value.

Definition at line 123 of file bilateral_upsampling.h.

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

Returns the filter window size.

Definition at line 103 of file bilateral_upsampling.h.

template<typename PointInT , typename PointOutT >
void pcl::BilateralUpsampling< PointInT, PointOutT >::performProcessing ( pcl::PointCloud< PointOutT > &  output)
protectedvirtual
template<typename PointInT , typename PointOutT >
void pcl::BilateralUpsampling< PointInT, PointOutT >::process ( pcl::PointCloud< PointOutT > &  output)
virtual

Method that does the actual processing on the input cloud.

Parameters
[out]outputthe container of the resulting upsampled cloud

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

Definition at line 48 of file bilateral_upsampling.hpp.

References pcl::PointCloud< PointT >::header, pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

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

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_matrixthe new projection matrix to be set

Definition at line 131 of file bilateral_upsampling.h.

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_colorthe new value to be set

Definition at line 109 of file bilateral_upsampling.h.

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_depththe new value to be set

Definition at line 119 of file bilateral_upsampling.h.

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_sizethe given window size

Definition at line 99 of file bilateral_upsampling.h.

Member Data Documentation

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

Definition at line 75 of file bilateral_upsampling.h.

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

Definition at line 75 of file bilateral_upsampling.h.


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