bilateral_upsampling.h

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#ifndef PCL_SURFACE_BILATERAL_UPSAMPLING_H_
#define PCL_SURFACE_BILATERAL_UPSAMPLING_H_

#include <pcl/surface/processing.h>

namespace pcl
{

  template <typename PointInT, typename PointOutT>
  class BilateralUpsampling: public CloudSurfaceProcessing<PointInT, PointOutT>
  {
    public:
      typedef boost::shared_ptr<BilateralUpsampling<PointInT, PointOutT> > Ptr;
      typedef boost::shared_ptr<const BilateralUpsampling<PointInT, PointOutT> > ConstPtr;

      using PCLBase<PointInT>::input_;
      using PCLBase<PointInT>::indices_;
      using PCLBase<PointInT>::initCompute;
      using PCLBase<PointInT>::deinitCompute;
      using CloudSurfaceProcessing<PointInT, PointOutT>::process;

      typedef pcl::PointCloud<PointOutT> PointCloudOut;

      Eigen::Matrix3f KinectVGAProjectionMatrix, KinectSXGAProjectionMatrix;

      BilateralUpsampling () 
        : KinectVGAProjectionMatrix ()
        , KinectSXGAProjectionMatrix ()
        , window_size_ (5)
        , sigma_color_ (15.0f)
        , sigma_depth_ (0.5f)
        , projection_matrix_ ()
        , unprojection_matrix_ ()
      {
        KinectVGAProjectionMatrix << 525.0f, 0.0f, 320.0f,
                                     0.0f, 525.0f, 240.0f,
                                     0.0f, 0.0f, 1.0f;
        KinectSXGAProjectionMatrix << 1050.0f, 0.0f, 640.0f,
                                      0.0f, 1050.0f, 480.0f,
                                      0.0f, 0.0f, 1.0f;
      };

      inline void
      setWindowSize (int window_size) { window_size_ = window_size; }

      inline int
      getWindowSize () const { return (window_size_); }

      inline void
      setSigmaColor (const float &sigma_color) { sigma_color_ = sigma_color; }

      inline float
      getSigmaColor () const { return (sigma_color_); }

      inline void
      setSigmaDepth (const float &sigma_depth) { sigma_depth_ = sigma_depth; }

      inline float
      getSigmaDepth () const { return (sigma_depth_); }

      inline void
      setProjectionMatrix (const Eigen::Matrix3f &projection_matrix) { projection_matrix_ = projection_matrix; }

      inline Eigen::Matrix3f
      getProjectionMatrix () const { return (projection_matrix_); }

      void
      process (pcl::PointCloud<PointOutT> &output);

    protected:
      void
      performProcessing (pcl::PointCloud<PointOutT> &output);

    private:
      int window_size_;
      float sigma_color_, sigma_depth_;
      Eigen::Matrix3f projection_matrix_, unprojection_matrix_;

    public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  };
}

#endif /* PCL_SURFACE_BILATERAL_UPSAMPLING_H_ */