41 #ifndef PCL_SURFACE_BILATERAL_UPSAMPLING_H_ 42 #define PCL_SURFACE_BILATERAL_UPSAMPLING_H_ 44 #include <pcl/surface/processing.h> 62 template <
typename Po
intInT,
typename Po
intOutT>
66 typedef boost::shared_ptr<BilateralUpsampling<PointInT, PointOutT> >
Ptr;
67 typedef boost::shared_ptr<const BilateralUpsampling<PointInT, PointOutT> >
ConstPtr;
84 , sigma_color_ (15.0f)
86 , projection_matrix_ ()
87 , unprojection_matrix_ ()
93 0.0f, 1050.0f, 480.0f,
133 setProjectionMatrix (
const Eigen::Matrix3f &projection_matrix) { projection_matrix_ = projection_matrix; }
136 inline Eigen::Matrix3f
152 computeDistances (Eigen::MatrixXf &val_exp_depth, Eigen::VectorXf &val_exp_rgb);
156 float sigma_color_, sigma_depth_;
157 Eigen::Matrix3f projection_matrix_, unprojection_matrix_;
160 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Eigen::Matrix3f getProjectionMatrix() const
Returns the current projection matrix.
float getSigmaDepth() const
Returns the current sigma depth value.
BilateralUpsampling()
Constructor.
This file defines compatibility wrappers for low level I/O functions.
void setSigmaColor(const float &sigma_color)
Method that sets the sigma color parameter.
Bilateral filtering implementation, based on the following paper:
float getSigmaColor() const
Returns the current sigma color value.
CloudSurfaceProcessing represents the base class for algorithms that takes a point cloud as input and...
Eigen::Matrix3f KinectSXGAProjectionMatrix
Eigen::Matrix3f KinectVGAProjectionMatrix
boost::shared_ptr< const BilateralUpsampling< PointInT, PointOutT > > ConstPtr
void performProcessing(pcl::PointCloud< PointOutT > &output)
Abstract cloud processing method.
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.
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...
PointCloud represents the base class in PCL for storing collections of 3D points.
pcl::PointCloud< PointOutT > PointCloudOut
int getWindowSize() const
Returns the filter window size.
boost::shared_ptr< BilateralUpsampling< PointInT, PointOutT > > Ptr
void process(pcl::PointCloud< PointOutT > &output)
Method that does the actual processing on the input cloud.
void computeDistances(Eigen::MatrixXf &val_exp_depth, Eigen::VectorXf &val_exp_rgb)
Computes the distance for depth and RGB.