Open3D (C++ API)
ColorMapOptimization.h
Go to the documentation of this file.
1 // ----------------------------------------------------------------------------
2 // - Open3D: www.open3d.org -
3 // ----------------------------------------------------------------------------
4 // The MIT License (MIT)
5 //
6 // Copyright (c) 2018 www.open3d.org
7 //
8 // Permission is hereby granted, free of charge, to any person obtaining a copy
9 // of this software and associated documentation files (the "Software"), to deal
10 // in the Software without restriction, including without limitation the rights
11 // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12 // copies of the Software, and to permit persons to whom the Software is
13 // furnished to do so, subject to the following conditions:
14 //
15 // The above copyright notice and this permission notice shall be included in
16 // all copies or substantial portions of the Software.
17 //
18 // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19 // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
20 // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21 // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
22 // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
23 // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
24 // IN THE SOFTWARE.
25 // ----------------------------------------------------------------------------
26 
27 #pragma once
28 
29 #include <memory>
30 #include <vector>
31 
32 namespace open3d {
33 
34 namespace geometry {
35 class TriangleMesh;
36 }
37 namespace geometry {
38 class RGBDImage;
39 }
40 namespace geometry {
41 class Image;
42 }
43 namespace camera {
44 class PinholeCameraTrajectory;
45 }
46 
47 namespace color_map {
48 
53 public:
55  // Attention: when you update the defaults, update the docstrings in
56  // Python/color_map/color_map.cpp
57  bool non_rigid_camera_coordinate = false,
58  int number_of_vertical_anchors = 16,
59  double non_rigid_anchor_point_weight = 0.316,
60  int maximum_iteration = 300,
61  double maximum_allowable_depth = 2.5,
62  double depth_threshold_for_visiblity_check = 0.03,
63  double depth_threshold_for_discontinuity_check = 0.1,
64  int half_dilation_kernel_size_for_discontinuity_map = 3,
65  int image_boundary_margin = 10,
66  int invisible_vertex_color_knn = 3)
67  : non_rigid_camera_coordinate_(non_rigid_camera_coordinate),
68  number_of_vertical_anchors_(number_of_vertical_anchors),
69  non_rigid_anchor_point_weight_(non_rigid_anchor_point_weight),
70  maximum_iteration_(maximum_iteration),
71  maximum_allowable_depth_(maximum_allowable_depth),
73  depth_threshold_for_visiblity_check),
75  depth_threshold_for_discontinuity_check),
77  half_dilation_kernel_size_for_discontinuity_map),
78  image_boundary_margin_(image_boundary_margin),
79  invisible_vertex_color_knn_(invisible_vertex_color_knn) {}
81 
82 public:
134 };
135 
150  const std::vector<std::shared_ptr<geometry::RGBDImage>>& imgs_rgbd,
152  const ColorMapOptimizationOption& option =
154 } // namespace color_map
155 } // namespace open3d
open3d::color_map::ColorMapOptimizationOption::non_rigid_anchor_point_weight_
double non_rigid_anchor_point_weight_
Definition: ColorMapOptimization.h:99
open3d::color_map::ColorMapOptimizationOption::ColorMapOptimizationOption
ColorMapOptimizationOption(bool non_rigid_camera_coordinate=false, int number_of_vertical_anchors=16, double non_rigid_anchor_point_weight=0.316, int maximum_iteration=300, double maximum_allowable_depth=2.5, double depth_threshold_for_visiblity_check=0.03, double depth_threshold_for_discontinuity_check=0.1, int half_dilation_kernel_size_for_discontinuity_map=3, int image_boundary_margin=10, int invisible_vertex_color_knn=3)
Definition: ColorMapOptimization.h:54
open3d::color_map::ColorMapOptimizationOption::half_dilation_kernel_size_for_discontinuity_map_
int half_dilation_kernel_size_for_discontinuity_map_
Definition: ColorMapOptimization.h:123
open3d::color_map::ColorMapOptimizationOption
Defines options for color map optimization.
Definition: ColorMapOptimization.h:52
open3d::color_map::ColorMapOptimization
void ColorMapOptimization(geometry::TriangleMesh &mesh, const std::vector< std::shared_ptr< geometry::RGBDImage >> &images_rgbd, camera::PinholeCameraTrajectory &camera, const ColorMapOptimizationOption &option)
Function for color mapping of reconstructed scenes via optimization.
Definition: ColorMapOptimization.cpp:278
open3d::color_map::ColorMapOptimizationOption::maximum_iteration_
int maximum_iteration_
Number of iterations for optimization steps.
Definition: ColorMapOptimization.h:101
open3d::color_map::ColorMapOptimizationOption::image_boundary_margin_
int image_boundary_margin_
Definition: ColorMapOptimization.h:129
open3d::color_map::ColorMapOptimizationOption::~ColorMapOptimizationOption
~ColorMapOptimizationOption()
Definition: ColorMapOptimization.h:80
open3d::color_map::ColorMapOptimizationOption::depth_threshold_for_visiblity_check_
double depth_threshold_for_visiblity_check_
Definition: ColorMapOptimization.h:111
open3d::color_map::ColorMapOptimizationOption::depth_threshold_for_discontinuity_check_
double depth_threshold_for_discontinuity_check_
Definition: ColorMapOptimization.h:117
open3d::camera::PinholeCameraTrajectory
Definition: PinholeCameraTrajectory.h:40
open3d::color_map::ColorMapOptimizationOption::non_rigid_camera_coordinate_
bool non_rigid_camera_coordinate_
Definition: ColorMapOptimization.h:87
open3d::color_map::ColorMapOptimizationOption::maximum_allowable_depth_
double maximum_allowable_depth_
Definition: ColorMapOptimization.h:106
open3d::geometry::RGBDImage
Definition: RGBDImage.h:43
open3d
Definition: PinholeCameraIntrinsic.cpp:34
open3d::color_map::ColorMapOptimizationOption::invisible_vertex_color_knn_
int invisible_vertex_color_knn_
Definition: ColorMapOptimization.h:133
open3d::geometry::TriangleMesh
Definition: TriangleMesh.h:46
open3d::color_map::ColorMapOptimizationOption::number_of_vertical_anchors_
int number_of_vertical_anchors_
Definition: ColorMapOptimization.h:92