Bilateral filtering implementation, based on the following paper: * Kopf, Johannes and Cohen, Michael F. and Lischinski, Dani and Uyttendaele, Matt - Joint Bilateral Upsampling, * ACM Transations in Graphics, July 2007. More...

#include <bilateral_upsampling.h>

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

[legend]

List of all members.

Public Types
typedef boost::shared_ptr < const BilateralUpsampling < PointInT, PointOutT > >	ConstPtr
typedef pcl::PointCloud < PointOutT >	PointCloudOut
typedef boost::shared_ptr < BilateralUpsampling < PointInT, PointOutT > >	Ptr
Public Member Functions
	BilateralUpsampling ()
	Constructor.
Eigen::Matrix3f	getProjectionMatrix () const
	Returns the current projection matrix.
float	getSigmaColor () const
	Returns the current sigma color value.
float	getSigmaDepth () const
	Returns the current sigma depth value.
int	getWindowSize () const
	Returns the filter window size.
void	process (pcl::PointCloud< PointOutT > &output)
	Method that does the actual processing on the input cloud.
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.
void	setSigmaColor (const float &sigma_color)
	Method that sets the sigma color parameter.
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.
Public Attributes
Eigen::Matrix3f	KinectSXGAProjectionMatrix
Eigen::Matrix3f	KinectVGAProjectionMatrix
Protected Member Functions
void	performProcessing (pcl::PointCloud< PointOutT > &output)
	Abstract cloud processing method.
Private Attributes
Eigen::Matrix3f	projection_matrix_
float	sigma_color_
float	sigma_depth_
Eigen::Matrix3f	unprojection_matrix_
int	window_size_

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 Transations 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

template<typename PointInT, typename PointOutT>

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

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

Definition at line 67 of file bilateral_upsampling.h.

template<typename PointInT, typename PointOutT>

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

Definition at line 75 of file bilateral_upsampling.h.

template<typename PointInT, typename PointOutT>

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

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

Definition at line 66 of file bilateral_upsampling.h.

Constructor & Destructor Documentation

template<typename PointInT, typename PointOutT>

pcl::BilateralUpsampling< PointInT, PointOutT >::BilateralUpsampling ( ) [inline]

Constructor.

Definition at line 80 of file bilateral_upsampling.h.

Member Function Documentation

template<typename PointInT, typename PointOutT>

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

Returns the current projection matrix.

Definition at line 137 of file bilateral_upsampling.h.

template<typename PointInT, typename PointOutT>

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

Returns the current sigma color value.

Definition at line 115 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 125 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 105 of file bilateral_upsampling.h.

template<typename PointInT, typename PointOutT>

void pcl::BilateralUpsampling< PointInT, PointOutT >::performProcessing ( pcl::PointCloud< PointOutT > & output ) [protected, virtual]

Abstract cloud processing method.

Implements pcl::CloudSurfaceProcessing< PointInT, PointOutT >.

Definition at line 86 of file bilateral_upsampling.hpp.

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] output the container of the resulting upsampled cloud

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

Definition at line 48 of file bilateral_upsampling.hpp.

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 133 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_color the new value to be set

Definition at line 111 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_depth the new value to be set

Definition at line 121 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_size the given window size

Definition at line 101 of file bilateral_upsampling.h.

Member Data Documentation

template<typename PointInT, typename PointOutT>

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

Definition at line 77 of file bilateral_upsampling.h.

template<typename PointInT, typename PointOutT>

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

Definition at line 77 of file bilateral_upsampling.h.

template<typename PointInT, typename PointOutT>

Eigen::Matrix3f pcl::BilateralUpsampling< PointInT, PointOutT >::projection_matrix_ [private]

Definition at line 151 of file bilateral_upsampling.h.

template<typename PointInT, typename PointOutT>

float pcl::BilateralUpsampling< PointInT, PointOutT >::sigma_color_ [private]

Definition at line 150 of file bilateral_upsampling.h.

template<typename PointInT, typename PointOutT>

float pcl::BilateralUpsampling< PointInT, PointOutT >::sigma_depth_ [private]

Definition at line 150 of file bilateral_upsampling.h.

template<typename PointInT, typename PointOutT>

Eigen::Matrix3f pcl::BilateralUpsampling< PointInT, PointOutT >::unprojection_matrix_ [private]

Definition at line 151 of file bilateral_upsampling.h.

template<typename PointInT, typename PointOutT>

int pcl::BilateralUpsampling< PointInT, PointOutT >::window_size_ [private]

Definition at line 149 of file bilateral_upsampling.h.

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Private Attributes

Detailed Description

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

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation

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