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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * Copyright (c) 2009-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment"> * are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment"> * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="preprocessor">#ifndef PCL_SURFACE_IMPL_BILATERAL_UPSAMPLING_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="preprocessor">#define PCL_SURFACE_IMPL_BILATERAL_UPSAMPLING_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  </div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include <pcl/surface/bilateral_upsampling.h></span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include <algorithm></span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <pcl/console/print.h></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="preprocessor">#include <Eigen/LU></span> <span class="comment">// for inverse</span></div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment"></span> </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="comment"></span><span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_upsampling.html#a744e00d00b399e7aca868c90809c7c0a"> 50</a></span> <a class="code" href="classpcl_1_1_bilateral_upsampling.html#a744e00d00b399e7aca868c90809c7c0a">pcl::BilateralUpsampling<PointInT, PointOutT>::process</a> (<a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud<PointOutT></a> &output)</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> {</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  <span class="comment">// Copy the header</span></div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  output.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a> = input_->header;</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  <span class="keywordflow">if</span> (!initCompute ())</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  {</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  output.<a class="code" href="classpcl_1_1_point_cloud.html#a644dc7161c2e3f23bc4d36d36c58e7b4">width</a> = output.<a class="code" href="classpcl_1_1_point_cloud.html#a917b6eb0ef204836c56a2334ddd703fe">height</a> = 0;</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  output.<a class="code" href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">clear</a> ();</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  }</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordflow">if</span> (input_->isOrganized () == <span class="keyword">false</span>)</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  {</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  PCL_ERROR (<span class="stringliteral">"Input cloud is not organized.\n"</span>);</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  }</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  </div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="comment">// Invert projection matrix</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  unprojection_matrix_ = projection_matrix_.inverse ();</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  </div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < 3; ++i)</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  {</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j < 3; ++j)</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  printf (<span class="stringliteral">"%f "</span>, unprojection_matrix_(i, j));</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  </div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  printf (<span class="stringliteral">"\n"</span>);</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  }</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  </div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="comment">// Perform the actual surface reconstruction</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  performProcessing (output);</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  </div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  deinitCompute ();</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> }</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span> <span class="comment"></span> </div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> <span class="comment">//////////////////////////////////////////////////////////////////////////////////////////////</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <span class="comment"></span><span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00088"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_upsampling.html#a9ac1b9fc0950a50d5e98430628ea4781"> 88</a></span> <a class="code" href="classpcl_1_1_bilateral_upsampling.html#a9ac1b9fc0950a50d5e98430628ea4781">pcl::BilateralUpsampling<PointInT, PointOutT>::performProcessing</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudOut</a> &output)</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> {</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  output.<a class="code" href="classpcl_1_1_point_cloud.html#a552575b03243c7f5d95bb03c59842238">resize</a> (input_->size ());</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keywordtype">float</span> nan = std::numeric_limits<float>::quiet_NaN ();</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  Eigen::MatrixXf val_exp_depth_matrix;</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  Eigen::VectorXf val_exp_rgb_vector;</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  computeDistances (val_exp_depth_matrix, val_exp_rgb_vector);</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  </div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x = 0; x < static_cast<int> (input_->width); ++x)</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y = 0; y < static_cast<int> (input_->height); ++y)</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  {</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordtype">int</span> start_window_x = std::max (x - window_size_, 0),</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  start_window_y = std::max (y - window_size_, 0),</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  end_window_x = std::min (x + window_size_, <span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span> (input_->width)),</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  end_window_y = std::min (y + window_size_, <span class="keyword">static_cast<</span><span class="keywordtype">int</span><span class="keyword">></span> (input_->height));</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  </div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  <span class="keywordtype">float</span> sum = 0.0f,</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  norm_sum = 0.0f;</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  </div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x_w = start_window_x; x_w < end_window_x; ++ x_w)</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y_w = start_window_y; y_w < end_window_y; ++ y_w)</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  {</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordtype">float</span> val_exp_depth = val_exp_depth_matrix (<span class="keyword">static_cast<</span>Eigen::MatrixXf::Index<span class="keyword">></span> (x - x_w + window_size_),</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keyword">static_cast<</span>Eigen::MatrixXf::Index<span class="keyword">></span> (y - y_w + window_size_));</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  </div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keyword">auto</span> d_color = <span class="keyword">static_cast<</span>Eigen::VectorXf::Index<span class="keyword">></span> (</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  std::abs ((*input_)[y_w * input_->width + x_w].r - (*input_)[y * input_->width + x].r) +</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  std::abs ((*input_)[y_w * input_->width + x_w].g - (*input_)[y * input_->width + x].g) +</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  std::abs ((*input_)[y_w * input_->width + x_w].b - (*input_)[y * input_->width + x].b));</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  </div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keywordtype">float</span> val_exp_rgb = val_exp_rgb_vector (d_color);</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  </div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keywordflow">if</span> (std::isfinite ((*input_)[y_w*input_->width + x_w].z))</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  {</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  sum += val_exp_depth * val_exp_rgb * (*input_)[y_w*input_->width + x_w].z;</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  norm_sum += val_exp_depth * val_exp_rgb;</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  }</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  }</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  </div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  output[y*input_->width + x].r = (*input_)[y*input_->width + x].r;</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  output[y*input_->width + x].g = (*input_)[y*input_->width + x].g;</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  output[y*input_->width + x].b = (*input_)[y*input_->width + x].b;</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  </div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keywordflow">if</span> (norm_sum != 0.0f)</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  {</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keywordtype">float</span> depth = sum / norm_sum;</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  Eigen::Vector3f pc (<span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (x) * depth, <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (y) * depth, depth);</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  Eigen::Vector3f pw (unprojection_matrix_ * pc);</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  output[y*input_->width + x].x = pw[0];</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  output[y*input_->width + x].y = pw[1];</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  output[y*input_->width + x].z = pw[2];</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  }</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  {</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  output[y*input_->width + x].x = nan;</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  output[y*input_->width + x].y = nan;</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  output[y*input_->width + x].z = nan;</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  }</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  }</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  </div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  output.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a> = input_->header;</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  output.<a class="code" href="classpcl_1_1_point_cloud.html#a644dc7161c2e3f23bc4d36d36c58e7b4">width</a> = input_->width;</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  output.<a class="code" href="classpcl_1_1_point_cloud.html#a917b6eb0ef204836c56a2334ddd703fe">height</a> = input_->height;</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span> }</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  </div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  </div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span> <span class="keyword">template</span> <<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1_bilateral_upsampling.html#a1891188e162146676f2ad1f98a02d012"> 156</a></span> <a class="code" href="classpcl_1_1_bilateral_upsampling.html#a1891188e162146676f2ad1f98a02d012">pcl::BilateralUpsampling<PointInT, PointOutT>::computeDistances</a> (Eigen::MatrixXf &val_exp_depth, Eigen::VectorXf &val_exp_rgb)</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> {</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  val_exp_depth.resize (2*window_size_+1,2*window_size_+1);</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  val_exp_rgb.resize (3*255+1);</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  </div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keywordtype">int</span> j = 0;</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> dx = -window_size_; dx < window_size_+1; ++dx)</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  {</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keywordtype">int</span> i = 0;</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> dy = -window_size_; dy < window_size_+1; ++dy)</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  {</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keywordtype">float</span> val_exp = std::exp (- (dx*dx + dy*dy) / (2.0f * <span class="keyword">static_cast<</span><span class="keywordtype">float</span><span class="keyword">></span> (sigma_depth_ * sigma_depth_)));</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  val_exp_depth(i,j) = val_exp;</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  i++;</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  }</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  j++;</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  }</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  </div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> d_color = 0; d_color < 3*255+1; d_color++)</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  {</div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="keywordtype">float</span> val_exp = std::exp (- d_color * d_color / (2.0f * sigma_color_ * sigma_color_));</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  val_exp_rgb(d_color) = val_exp;</div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  }</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> }</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  </div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  </div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> <span class="preprocessor">#define PCL_INSTANTIATE_BilateralUpsampling(T,OutT) template class PCL_EXPORTS pcl::BilateralUpsampling<T,OutT>;</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  </div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  </div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span> <span class="preprocessor">#endif </span><span class="comment">/* PCL_SURFACE_IMPL_BILATERAL_UPSAMPLING_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_upsampling_html_a1891188e162146676f2ad1f98a02d012"><div class="ttname"><a href="classpcl_1_1_bilateral_upsampling.html#a1891188e162146676f2ad1f98a02d012">pcl::BilateralUpsampling::computeDistances</a></div><div class="ttdeci">void computeDistances(Eigen::MatrixXf &val_exp_depth, Eigen::VectorXf &val_exp_rgb)</div><div class="ttdoc">Computes the distance for depth and RGB.</div><div class="ttdef"><b>Definition:</b> <a href="bilateral__upsampling_8hpp_source.html#l00156">bilateral_upsampling.hpp:156</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_upsampling_html_a744e00d00b399e7aca868c90809c7c0a"><div class="ttname"><a href="classpcl_1_1_bilateral_upsampling.html#a744e00d00b399e7aca868c90809c7c0a">pcl::BilateralUpsampling::process</a></div><div class="ttdeci">void process(pcl::PointCloud< PointOutT > &output) override</div><div class="ttdoc">Method that does the actual processing on the input cloud.</div><div class="ttdef"><b>Definition:</b> <a href="bilateral__upsampling_8hpp_source.html#l00050">bilateral_upsampling.hpp:50</a></div></div>
<div class="ttc" id="aclasspcl_1_1_bilateral_upsampling_html_a9ac1b9fc0950a50d5e98430628ea4781"><div class="ttname"><a href="classpcl_1_1_bilateral_upsampling.html#a9ac1b9fc0950a50d5e98430628ea4781">pcl::BilateralUpsampling::performProcessing</a></div><div class="ttdeci">void performProcessing(pcl::PointCloud< PointOutT > &output) override</div><div class="ttdoc">Abstract cloud processing method.</div><div class="ttdef"><b>Definition:</b> <a href="bilateral__upsampling_8hpp_source.html#l00088">bilateral_upsampling.hpp:88</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud< PointOutT ></a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a552575b03243c7f5d95bb03c59842238"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a552575b03243c7f5d95bb03c59842238">pcl::PointCloud::resize</a></div><div class="ttdeci">void resize(std::size_t count)</div><div class="ttdoc">Resizes the container to contain count elements.</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00462">point_cloud.h:462</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a644dc7161c2e3f23bc4d36d36c58e7b4"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a644dc7161c2e3f23bc4d36d36c58e7b4">pcl::PointCloud::width</a></div><div class="ttdeci">std::uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00398">point_cloud.h:398</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a82e0be055a617e5e74102ed62712b352"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">pcl::PointCloud::header</a></div><div class="ttdeci">pcl::PCLHeader header</div><div class="ttdoc">The point cloud header.</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00392">point_cloud.h:392</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a917b6eb0ef204836c56a2334ddd703fe"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a917b6eb0ef204836c56a2334ddd703fe">pcl::PointCloud::height</a></div><div class="ttdeci">std::uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00400">point_cloud.h:400</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a963c0da7320055c79e5af0df4f6ad224"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a963c0da7320055c79e5af0df4f6ad224">pcl::PointCloud::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Removes all points in a cloud and sets the width and height to 0.</div><div class="ttdef"><b>Definition:</b> <a href="common_2include_2pcl_2point__cloud_8h_source.html#l00885">point_cloud.h:885</a></div></div>
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