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
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.
PointCloud represents the base class in PCL for storing collections of 3D points. ...
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...
BilateralUpsampling()
Constructor.