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;
81 : KinectVGAProjectionMatrix ()
82 , KinectSXGAProjectionMatrix ()
84 , sigma_color_ (15.0f)
86 , projection_matrix_ ()
87 , unprojection_matrix_ ()
89 KinectVGAProjectionMatrix << 525.0f, 0.0f, 320.0f,
92 KinectSXGAProjectionMatrix << 1050.0f, 0.0f, 640.0f,
93 0.0f, 1050.0f, 480.0f,
133 setProjectionMatrix (
const Eigen::Matrix3f &projection_matrix) { projection_matrix_ = projection_matrix; }
136 inline Eigen::Matrix3f
150 float sigma_color_, sigma_depth_;
151 Eigen::Matrix3f projection_matrix_, unprojection_matrix_;
154 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
float getSigmaColor() const
Returns the current sigma color value.
Eigen::Matrix3f getProjectionMatrix() const
Returns the current projection matrix.
void performProcessing(pcl::PointCloud< PointOutT > &output)
Abstract cloud processing method.
void process(pcl::PointCloud< PointOutT > &output)
Method that does the actual processing on the input cloud.
pcl::PointCloud< PointOutT > PointCloudOut
Eigen::Matrix3f KinectVGAProjectionMatrix
boost::shared_ptr< BilateralUpsampling< PointInT, PointOutT > > Ptr
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.
float getSigmaDepth() const
Returns the current sigma depth value.
CloudSurfaceProcessing represents the base class for algorithms that takes a point cloud as input and...
boost::shared_ptr< const BilateralUpsampling< PointInT, PointOutT > > ConstPtr
void setWindowSize(int window_size)
Method that sets the window size for the filter.
int getWindowSize() const
Returns the filter window size.
Bilateral filtering implementation, based on the following paper:
Eigen::Matrix3f KinectSXGAProjectionMatrix
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. ...
BilateralUpsampling()
Constructor.