Point Cloud Library (PCL)  1.9.1
bilateral_upsampling.h
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39 
40 
41 #ifndef PCL_SURFACE_BILATERAL_UPSAMPLING_H_
42 #define PCL_SURFACE_BILATERAL_UPSAMPLING_H_
43 
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  typedef boost::shared_ptr<BilateralUpsampling<PointInT, PointOutT> > Ptr;
67  typedef boost::shared_ptr<const BilateralUpsampling<PointInT, PointOutT> > ConstPtr;
68 
74 
76 
78 
79  /** \brief Constructor. */
83  , window_size_ (5)
84  , sigma_color_ (15.0f)
85  , sigma_depth_ (0.5f)
86  , projection_matrix_ ()
87  , unprojection_matrix_ ()
88  {
89  KinectVGAProjectionMatrix << 525.0f, 0.0f, 320.0f,
90  0.0f, 525.0f, 240.0f,
91  0.0f, 0.0f, 1.0f;
92  KinectSXGAProjectionMatrix << 1050.0f, 0.0f, 640.0f,
93  0.0f, 1050.0f, 480.0f,
94  0.0f, 0.0f, 1.0f;
95  };
96 
97  /** \brief Method that sets the window size for the filter
98  * \param[in] window_size the given window size
99  */
100  inline void
101  setWindowSize (int window_size) { window_size_ = window_size; }
102 
103  /** \brief Returns the filter window size */
104  inline int
105  getWindowSize () const { return (window_size_); }
106 
107  /** \brief Method that sets the sigma color parameter
108  * \param[in] sigma_color the new value to be set
109  */
110  inline void
111  setSigmaColor (const float &sigma_color) { sigma_color_ = sigma_color; }
112 
113  /** \brief Returns the current sigma color value */
114  inline float
115  getSigmaColor () const { return (sigma_color_); }
116 
117  /** \brief Method that sets the sigma depth parameter
118  * \param[in] sigma_depth the new value to be set
119  */
120  inline void
121  setSigmaDepth (const float &sigma_depth) { sigma_depth_ = sigma_depth; }
122 
123  /** \brief Returns the current sigma depth value */
124  inline float
125  getSigmaDepth () const { return (sigma_depth_); }
126 
127  /** \brief Method that sets the projection matrix to be used when unprojecting the points in the depth image
128  * back to (x,y,z) positions.
129  * \note There are 2 matrices already set in the class, used for the 2 modes available for the Kinect. They
130  * are tuned to be the same as the ones in the OpenNiGrabber
131  * \param[in] projection_matrix the new projection matrix to be set */
132  inline void
133  setProjectionMatrix (const Eigen::Matrix3f &projection_matrix) { projection_matrix_ = projection_matrix; }
134 
135  /** \brief Returns the current projection matrix */
136  inline Eigen::Matrix3f
137  getProjectionMatrix () const { return (projection_matrix_); }
138 
139  /** \brief Method that does the actual processing on the input cloud.
140  * \param[out] output the container of the resulting upsampled cloud */
141  void
143 
144  protected:
145  void
147 
148  /** \brief Computes the distance for depth and RGB.
149  * \param[out] val_exp_depth distance values for depth
150  * \param[out] val_exp_rgb distance values for RGB */
151  void
152  computeDistances (Eigen::MatrixXf &val_exp_depth, Eigen::VectorXf &val_exp_rgb);
153 
154  private:
155  int window_size_;
156  float sigma_color_, sigma_depth_;
157  Eigen::Matrix3f projection_matrix_, unprojection_matrix_;
158 
159  public:
160  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
161  };
162 }
163 
164 #endif /* PCL_SURFACE_BILATERAL_UPSAMPLING_H_ */
pcl::BilateralUpsampling::Ptr
boost::shared_ptr< BilateralUpsampling< PointInT, PointOutT > > Ptr
Definition: bilateral_upsampling.h:66
pcl
This file defines compatibility wrappers for low level I/O functions.
Definition: convolution.h:45
pcl::BilateralUpsampling::KinectVGAProjectionMatrix
Eigen::Matrix3f KinectVGAProjectionMatrix
Definition: bilateral_upsampling.h:77
pcl::BilateralUpsampling::setSigmaDepth
void setSigmaDepth(const float &sigma_depth)
Method that sets the sigma depth parameter.
Definition: bilateral_upsampling.h:121
pcl::PCLBase
PCL base class.
Definition: pcl_base.h:68
pcl::BilateralUpsampling::getSigmaColor
float getSigmaColor() const
Returns the current sigma color value.
Definition: bilateral_upsampling.h:115
pcl::PointCloud
PointCloud represents the base class in PCL for storing collections of 3D points.
Definition: projection_matrix.h:53
pcl::BilateralUpsampling::getProjectionMatrix
Eigen::Matrix3f getProjectionMatrix() const
Returns the current projection matrix.
Definition: bilateral_upsampling.h:137
pcl::BilateralUpsampling::BilateralUpsampling
BilateralUpsampling()
Constructor.
Definition: bilateral_upsampling.h:80
pcl::BilateralUpsampling::process
void process(pcl::PointCloud< PointOutT > &output)
Method that does the actual processing on the input cloud.
Definition: bilateral_upsampling.hpp:48
pcl::CloudSurfaceProcessing
CloudSurfaceProcessing represents the base class for algorithms that takes a point cloud as input and...
Definition: processing.h:57
pcl::BilateralUpsampling::setProjectionMatrix
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...
Definition: bilateral_upsampling.h:133
pcl::BilateralUpsampling::KinectSXGAProjectionMatrix
Eigen::Matrix3f KinectSXGAProjectionMatrix
Definition: bilateral_upsampling.h:77
pcl::BilateralUpsampling::getWindowSize
int getWindowSize() const
Returns the filter window size.
Definition: bilateral_upsampling.h:105
pcl::BilateralUpsampling
Bilateral filtering implementation, based on the following paper:
Definition: bilateral_upsampling.h:63
pcl::BilateralUpsampling::performProcessing
void performProcessing(pcl::PointCloud< PointOutT > &output)
Abstract cloud processing method.
Definition: bilateral_upsampling.hpp:86
pcl::BilateralUpsampling::ConstPtr
boost::shared_ptr< const BilateralUpsampling< PointInT, PointOutT > > ConstPtr
Definition: bilateral_upsampling.h:67
pcl::BilateralUpsampling::setWindowSize
void setWindowSize(int window_size)
Method that sets the window size for the filter.
Definition: bilateral_upsampling.h:101
pcl::BilateralUpsampling::setSigmaColor
void setSigmaColor(const float &sigma_color)
Method that sets the sigma color parameter.
Definition: bilateral_upsampling.h:111
pcl::BilateralUpsampling::PointCloudOut
pcl::PointCloud< PointOutT > PointCloudOut
Definition: bilateral_upsampling.h:75
pcl::BilateralUpsampling::getSigmaDepth
float getSigmaDepth() const
Returns the current sigma depth value.
Definition: bilateral_upsampling.h:125
pcl::BilateralUpsampling::computeDistances
void computeDistances(Eigen::MatrixXf &val_exp_depth, Eigen::VectorXf &val_exp_rgb)
Computes the distance for depth and RGB.
Definition: bilateral_upsampling.hpp:154