open3d.color_map.ColorMapOptimizationOption¶
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class
open3d.color_map.
ColorMapOptimizationOption
¶ Defines options for color map optimization.
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__init__
(self: open3d.color_map.ColorMapOptimizationOption) → None¶ Default constructor
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property
depth_threshold_for_discontinuity_check
¶ (Default
0.1
) Parameter for point visibility check. It’s often desirable to ignore points where there are abrupt change in depth value. First the depth gradient image is computed, points are considered to be invisible if the depth gradient magnitude is larger thandepth_threshold_for_discontinuity_check
.- Type
float
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property
depth_threshold_for_visiblity_check
¶ (Default
0.03
) Parameter for point visibility check. When the difference of a point’s depth value in the RGB-D image and the point’s depth value in the 3D mesh is greater thandepth_threshold_for_visiblity_check
, the point is mark as invisible to the camera producing the RGB-D image.- Type
float
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property
half_dilation_kernel_size_for_discontinuity_map
¶ (Default
3
) Parameter for point visibility check. Related todepth_threshold_for_discontinuity_check
, when boundary points are detected, dilation is performed to ignore points near the object boundary.half_dilation_kernel_size_for_discontinuity_map
specifies the half-kernel size for the dilation applied on the visibility mask image.- Type
int
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property
image_boundary_margin
¶ (Default
10
) If a projected 3D point onto a 2D image lies in the image border withinimage_boundary_margin
, the 3D point is cosidered invisible from the camera producing the image. This parmeter is not used for visibility check, but used when computing the final color assignment after color map optimization.- Type
int
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property
invisible_vertex_color_knn
¶ (Default
3
) If a vertex is invisible from all images, we assign the averged color of the k nearest visible vertices to fill the invisible vertex. Set to0
to disable this feature and all invisible vertices will be black.- Type
int
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property
maximum_allowable_depth
¶ (Default
2.5
) Parameter for point visibility check. Points with depth larger thanmaximum_allowable_depth
in a RGB-D will be marked as invisible for the camera producing that RGB-D image. Select a proper value to include necessary points while ignoring unwanted points such as the background.- Type
float
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property
maximum_iteration
¶ (Default
300
) Number of iterations for optimization steps.- Type
int
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property
non_rigid_anchor_point_weight
¶ (Default
0.316
) Additional regularization terms added to non-rigid regularization. A higher value results gives more conservative updates. If the residual error does not stably decrease, it is mainly because images are being bended abruptly. In this case, consider making iteration more conservative by increasing the value. This option is only used when non-rigid optimization is enabled.- Type
float
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property
non_rigid_camera_coordinate
¶ (Default
False
) Set toTrue
to enable non-rigid optimization (optimizing camera extrinsic params and image wrapping field for color assignment), set toFalse
to only enable rigid optimization (optimize camera extrinsic params).- Type
bool
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property
number_of_vertical_anchors
¶ (Default
16
) Number of vertical anchor points for image wrapping field. The number of horizontal anchor points is computed automatically based on the number of vertical anchor points. This option is only used when non-rigid optimization is enabled.- Type
int
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