Bilateral filtering implementation, based on the following paper: More...
#include <pcl/surface/bilateral_upsampling.h>
Public Types |
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| typedef shared_ptr< BilateralUpsampling< PointInT, PointOutT > > | Ptr |
| typedef shared_ptr< const BilateralUpsampling< PointInT, PointOutT > > | ConstPtr |
| using | PointCloudOut = pcl::PointCloud< PointOutT > |
 Public Types inherited from pcl::CloudSurfaceProcessing< PointInT, PointOutT > |
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| typedef shared_ptr< CloudSurfaceProcessing< PointInT, PointOutT > > | Ptr |
| typedef shared_ptr< const CloudSurfaceProcessing< PointInT, PointOutT > > | ConstPtr |
| 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 |
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| BilateralUpsampling () | |
| Constructor. More... |
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| void | setWindowSize (int window_size) |
| Method that sets the window size for the filter. More... |
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| int | getWindowSize () const |
| Returns the filter window size. More... |
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| void | setSigmaColor (const float &sigma_color) |
| Method that sets the sigma color parameter. More... |
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| float | getSigmaColor () const |
| Returns the current sigma color value. More... |
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| 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... |
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| void | process (pcl::PointCloud< PointOutT > &output) override |
| Method that does the actual processing on the input cloud. More... |
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| Public Member Functions inherited from pcl::CloudSurfaceProcessing< PointInT, PointOutT > |
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| CloudSurfaceProcessing () | |
| Constructor. More... |
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| ~CloudSurfaceProcessing () | |
| Empty destructor. More... |
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| Public Member Functions inherited from pcl::PCLBase< PointInT > |
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| PCLBase () | |
| Empty constructor. More... |
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| PCLBase (const PCLBase &base) | |
| Copy constructor. More... |
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| virtual | ~PCLBase ()=default |
| Destructor. More... |
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| virtual void | setInputCloud (const PointCloudConstPtr &cloud) |
| Provide a pointer to the input dataset. More... |
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| const PointCloudConstPtr | getInputCloud () const |
| Get a pointer to the input point cloud dataset. More... |
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| virtual void | setIndices (const IndicesPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const IndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| virtual void | setIndices (const PointIndicesConstPtr &indices) |
| Provide a pointer to the vector of indices that represents the input data. More... |
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| 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... |
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| IndicesPtr | getIndices () |
| Get a pointer to the vector of indices used. More... |
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| const IndicesConstPtr | getIndices () const |
| Get a pointer to the vector of indices used. More... |
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| const PointInT & | operator[] (std::size_t pos) const |
| Override PointCloud operator[] to shorten code. More... |
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Public Attributes |
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| Eigen::Matrix3f | KinectVGAProjectionMatrix |
| Eigen::Matrix3f | KinectSXGAProjectionMatrix |
Protected Member Functions |
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| 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... |
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| Protected Member Functions inherited from pcl::PCLBase< PointInT > |
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| bool | initCompute () |
| This method should get called before starting the actual computation. More... |
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| bool | deinitCompute () |
| This method should get called after finishing the actual computation. More... |
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Additional Inherited Members |
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| Protected Attributes inherited from pcl::PCLBase< PointInT > |
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| PointCloudConstPtr | input_ |
| The input point cloud dataset. More... |
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| IndicesPtr | indices_ |
| A pointer to the vector of point indices to use. More... |
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| bool | use_indices_ |
| Set to true if point indices are used. More... |
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| 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:
![\[ \tilde{S}_p = \frac{1}{k_p} \sum_{q_d \in \Omega} {S_{q_d} f(||p_d - q_d|| g(||\tilde{I}_p-\tilde{I}_q||}) \]](data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAPIAAAAmBAMAAAAM6duuAAAAMFBMVEVHcEwAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAlTPQ5AAAAD3RSTlMAj125LqyAb8VI6d2e9NI+5a5wAAAD0klEQVRYw+2WTUwTQRTHH9vtLt1SuosE4kWBoIIxUqiiB6NrQ4gXpVVRQzQpaoxBE4ofiPiRJcavBJOCGk5oVTCRUzFq4kkSI/Ggpgcunmy8eauoEPFQZ2ans7vA+hlaD85lZ3b+837zZt57uwD/VgvnCqx8zpnP/8k5IAcq9BZdKM7LVhty+7crqF1Lp/7cdsEl2XYEwC+2IRfOkIcw9RdubY7aj+a2gWldwKfHyHPLXAkHYb5s3sURWg1sFQIE6ARf+8JnnetQ6JKaSWrEKvMHwQc+Tp6XvBN0ma6oeqya5m7eQ4YdUA5FZOgGwWfjvDNt9A0ZNxoR5J+RqcIZs5wUjhhMLiTD88DZVstnSdY1ZM4g2sbPyFQhBS2exCg5j5hqD/O2N970kXUN2b5R2EbsCtWnLB6VRiiZ2x/VFeC1XDXZByZzxCMp/UjfUHNzc2gWWUyzYMzI0Hai0EXsFk9LKgSY+LCYAk7F5ANCQldAjcUc2QcmQ4KM+z7pkdbQ0IDCgW8mjZ7SpgRbRmVoPUCI2F0Rl2S4jZxF1QbZ/CokoQmT+ZTTpyugRV+C6xGOWDCTUeDusWS3Qhq9RE+KpRGTrcyQHWPIidUompA+DEIiXwYPPu2CmBSm5GF9SauilKBHi4XsUKFWXIfKmMPv92+YfdFbM6eNZVCi4e4OoKftiZ6D0jssfDSv2rkRk1GPKmASjncakTgM4tExRpaCnCYMeWxC7K4RHJwmRROAttgDcIvY9UY+OOShjMIVXypqIUx2xV9TRd80tKnswgJf1C6njMku7IJ4vRYg1m3AXL2mJGb5hmWDXJI/BDCRyZkz5ejOJ5h41Rt3+AGJ7YHnVNGhqJLIUrpPKXsiqZhckLEraldNfprIFywHsC1f3h6H93HA+Yjsortxiz3GfI+j8j65Z3hIFehlV765VtdtNVUSfIml5tm3rJeXpJWWnkZ3IBgHXAFhDbJbek8F/sRBQz0MxyoweXCZrCswufa0JU2XEPJ+VjAs+Z7iMrW2TX9UZWZu3xivpxYg7LL/YqiGgp+0Tl9EfvRDhGWSZVtPF2nURz02uqbm1f1iU63Dhh9IHb0iPXvvzMjIyLv03/wZ/FbzrFdZLOqtLEvkJqfWHzqZi9+/I87xxnpJzQH5EL8LYl7L568ie/TEuIGtdD1tTGYLLF5mQVWwq8gtm8vawrZC8s/Z+QqfPfpYyODPFpnXi3kI1f26impUQx9kNdLc4SFXFfQoi3lNlLNKdlQmSk7CWdSpd+7Nbnp1JLV6yFu7WywWi7NLzg8uV9Cd56CmLCzzO7Ma3RjbWxcUAAAAAElFTkSuQmCC)
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 
and 
Definition at line 63 of file bilateral_upsampling.h.
Member Typedef Documentation
ConstPtr
| typedef shared_ptr<const BilateralUpsampling<PointInT, PointOutT> > pcl::BilateralUpsampling< PointInT, PointOutT >::ConstPtr |
Definition at line 67 of file bilateral_upsampling.h.
PointCloudOut
| using pcl::BilateralUpsampling< PointInT, PointOutT >::PointCloudOut = pcl::PointCloud<PointOutT> |
Definition at line 75 of file bilateral_upsampling.h.
Ptr
| typedef shared_ptr<BilateralUpsampling<PointInT, PointOutT> > pcl::BilateralUpsampling< PointInT, PointOutT >::Ptr |
Definition at line 66 of file bilateral_upsampling.h.
Constructor & Destructor Documentation
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()
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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()
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inline |
Returns the current projection matrix.
Definition at line 133 of file bilateral_upsampling.h.
getSigmaColor()
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inline |
Returns the current sigma color value.
Definition at line 111 of file bilateral_upsampling.h.
getSigmaDepth()
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inline |
Returns the current sigma depth value.
Definition at line 121 of file bilateral_upsampling.h.
getWindowSize()
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inline |
Returns the filter window size.
Definition at line 101 of file bilateral_upsampling.h.
performProcessing()
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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()
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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()
|
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 129 of file bilateral_upsampling.h.
setSigmaColor()
|
inline |
Method that sets the sigma color parameter.
- Parameters
-
[in] sigma_color the new value to be set
Definition at line 107 of file bilateral_upsampling.h.
setSigmaDepth()
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inline |
Method that sets the sigma depth parameter.
- Parameters
-
[in] sigma_depth the new value to be set
Definition at line 117 of file bilateral_upsampling.h.
setWindowSize()
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inline |
Method that sets the window size for the filter.
- Parameters
-
[in] window_size the given window size
Definition at line 97 of file bilateral_upsampling.h.
Member Data Documentation
KinectSXGAProjectionMatrix
| Eigen::Matrix3f pcl::BilateralUpsampling< PointInT, PointOutT >::KinectSXGAProjectionMatrix |
Definition at line 77 of file bilateral_upsampling.h.
Referenced by pcl::BilateralUpsampling< PointInT, PointOutT >::BilateralUpsampling().
KinectVGAProjectionMatrix
| 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
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_bilateral_upsampling.html
