Function compute

tools/bilateral_upsampling.cpp:87–112

}

void
compute (const pcl::PCLPointCloud2::ConstPtr &input, pcl::PCLPointCloud2 &output,
         int window_size, double sigma_color, double sigma_depth)
{
  PointCloud<PointXYZRGBA>::Ptr cloud (new pcl::PointCloud<PointXYZRGBA> ());
  fromPCLPointCloud2 (*input, *cloud);

  PointCloud<PointXYZRGBA>::Ptr cloud_upsampled (new PointCloud<PointXYZRGBA> ());

  BilateralUpsampling<PointXYZRGBA, PointXYZRGBA> bu;
  bu.setInputCloud (cloud);
  bu.setWindowSize (window_size);
  bu.setSigmaColor (sigma_color);
  bu.setSigmaDepth (sigma_depth);

  // TODO need to fix this somehow
  bu.setProjectionMatrix (bu.KinectSXGAProjectionMatrix);


  TicToc tt;
  tt.tic ();
  bu.process (*cloud_upsampled);
  print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud_upsampled->width * cloud_upsampled->height); print_info (" points]\n");

  toPCLPointCloud2 (*cloud_upsampled, output);
}

void
saveCloud (const std::string &filename, const pcl::PCLPointCloud2 &output)