TriangleMeshAndImageUtilities.h

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// The MIT License (MIT)
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#pragma once

#include <memory>
#include <vector>

#include "open3d/camera/PinholeCameraTrajectory.h"
#include "open3d/geometry/Image.h"
#include "open3d/geometry/RGBDImage.h"
#include "open3d/geometry/TriangleMesh.h"
#include "open3d/utility/Eigen.h"

namespace open3d {
namespace pipelines {
namespace color_map {

class ImageWarpingField;
class ColorMapOptimizationOption;

inline std::tuple<float, float, float> Project3DPointAndGetUVDepth(
        const Eigen::Vector3d X,
        const camera::PinholeCameraTrajectory& camera,
        int camid);

std::tuple<std::vector<std::vector<int>>, std::vector<std::vector<int>>>
CreateVertexAndImageVisibility(
        const geometry::TriangleMesh& mesh,
        const std::vector<std::shared_ptr<geometry::Image>>& images_rgbd,
        const std::vector<std::shared_ptr<geometry::Image>>& images_mask,
        const camera::PinholeCameraTrajectory& camera,
        double maximum_allowable_depth,
        double depth_threshold_for_visibility_check);

template <typename T>
std::tuple<bool, T> QueryImageIntensity(
        const geometry::Image& img,
        const Eigen::Vector3d& V,
        const camera::PinholeCameraTrajectory& camera,
        int camid,
        int ch = -1,
        int image_boundary_margin = 10);

template <typename T>
std::tuple<bool, T> QueryImageIntensity(
        const geometry::Image& img,
        const ImageWarpingField& field,
        const Eigen::Vector3d& V,
        const camera::PinholeCameraTrajectory& camera,
        int camid,
        int ch = -1,
        int image_boundary_margin = 10);

void SetProxyIntensityForVertex(
        const geometry::TriangleMesh& mesh,
        const std::vector<std::shared_ptr<geometry::Image>>& images_gray,
        const std::vector<ImageWarpingField>& warping_field,
        const camera::PinholeCameraTrajectory& camera,
        const std::vector<std::vector<int>>& visibility_vertex_to_image,
        std::vector<double>& proxy_intensity,
        int image_boundary_margin);

void SetProxyIntensityForVertex(
        const geometry::TriangleMesh& mesh,
        const std::vector<std::shared_ptr<geometry::Image>>& images_gray,
        const camera::PinholeCameraTrajectory& camera,
        const std::vector<std::vector<int>>& visibility_vertex_to_image,
        std::vector<double>& proxy_intensity,
        int image_boundary_margin);

void SetGeometryColorAverage(
        geometry::TriangleMesh& mesh,
        const std::vector<std::shared_ptr<geometry::Image>>& images_rgbd,
        const camera::PinholeCameraTrajectory& camera,
        const std::vector<std::vector<int>>& visibility_vertex_to_image,
        int image_boundary_margin = 10,
        int invisible_vertex_color_knn = 3);

void SetGeometryColorAverage(
        geometry::TriangleMesh& mesh,
        const std::vector<std::shared_ptr<geometry::Image>>& images_rgbd,
        const std::vector<ImageWarpingField>& warping_fields,
        const camera::PinholeCameraTrajectory& camera,
        const std::vector<std::vector<int>>& visibility_vertex_to_image,
        int image_boundary_margin = 10,
        int invisible_vertex_color_knn = 3);

}  // namespace color_map
}  // namespace pipelines
}  // namespace open3d