Data Structures
class	ColorMapOptimizationJacobian

class	ColorMapOptimizationOption
	Defines options for color map optimization. More...

class	ImageWarpingField

Functions
void	ColorMapOptimization (geometry::TriangleMesh &mesh, const std::vector< std::shared_ptr< geometry::RGBDImage >> &imgs_rgbd, camera::PinholeCameraTrajectory &camera, const ColorMapOptimizationOption &option=ColorMapOptimizationOption())
	Function for color mapping of reconstructed scenes via optimization. More...

template<typename VecInTypeDouble , typename VecInTypeInt , typename MatOutType , typename VecOutType >
std::tuple< MatOutType, VecOutType, double >	ComputeJTJandJTrNonRigid (std::function< void(int, VecInTypeDouble &, double &, VecInTypeInt &)> f, int iteration_num, int nonrigidval, bool verbose)

template std::tuple< Eigen::MatrixXd, Eigen::VectorXd, double >	ComputeJTJandJTrNonRigid (std::function< void(int, Eigen::Vector14d &, double &, Eigen::Vector14i &)> f, int iteration_num, int nonrigidval, bool verbose)

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_depth, const std::vector< std::shared_ptr< geometry::Image >> &images_mask, const camera::PinholeCameraTrajectory &camera, double maximum_allowable_depth, double depth_threshold_for_visiblity_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, int image_boundary_margin)

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, int image_boundary_margin)

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 >> &visiblity_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 >> &visiblity_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_color, const camera::PinholeCameraTrajectory &camera, const std::vector< std::vector< int >> &visiblity_vertex_to_image, int image_boundary_margin, int invisible_vertex_color_knn)

void	SetGeometryColorAverage (geometry::TriangleMesh &mesh, const std::vector< std::shared_ptr< geometry::Image >> &images_color, const std::vector< ImageWarpingField > &warping_fields, const camera::PinholeCameraTrajectory &camera, const std::vector< std::vector< int >> &visiblity_vertex_to_image, int image_boundary_margin, int invisible_vertex_color_knn)

Function Documentation

◆ ColorMapOptimization()

void open3d::color_map::ColorMapOptimization	(	geometry::TriangleMesh &	mesh,
		const std::vector< std::shared_ptr< geometry::RGBDImage >> &	imgs_rgbd,
		camera::PinholeCameraTrajectory &	camera,
		const ColorMapOptimizationOption &	option = `ColorMapOptimizationOption()`
	)

Function for color mapping of reconstructed scenes via optimization.

This is implementation of following paper Q.-Y. Zhou and V. Koltun, Color Map Optimization for 3D Reconstruction with Consumer Depth Cameras, SIGGRAPH 2014.

Parameters

mesh	The input geometry mesh.
imgs_rgbd	A list of RGBDImages seen by cameras.
camera	Cameras’ parameters.
option	Color map optimization options. Takes the original ColorMapOptimizationOption values by default.

◆ ComputeJTJandJTrNonRigid() [1/2]

template<typename VecInTypeDouble , typename VecInTypeInt , typename MatOutType , typename VecOutType >

std::tuple< MatOutType, VecOutType, double > open3d::color_map::ComputeJTJandJTrNonRigid	(	std::function< void(int, VecInTypeDouble &, double &, VecInTypeInt &)>	f,
		int	iteration_num,
		int	nonrigidval,
		bool	verbose = `true`
	)

Function to compute JTJ and Jtr Input: function pointer f and total number of rows of Jacobian matrix Output: JTJ, JTr, sum of r^2 Note: this function is almost identical to the functions in Utility/Eigen.h/cpp, but this function takes additional multiplication pattern that can produce JTJ having hundreds of rows and columns.

◆ ComputeJTJandJTrNonRigid() [2/2]

template std::tuple<Eigen::MatrixXd, Eigen::VectorXd, double> open3d::color_map::ComputeJTJandJTrNonRigid	(	std::function< void(int, Eigen::Vector14d &, double &, Eigen::Vector14i &)>	f,
		int	iteration_num,
		int	nonrigidval,
		bool	verbose
	)

◆ CreateVertexAndImageVisibility()

std::tuple< std::vector< std::vector< int > >, std::vector< std::vector< int > > > open3d::color_map::CreateVertexAndImageVisibility	(	const geometry::TriangleMesh &	mesh,
		const std::vector< std::shared_ptr< geometry::Image >> &	images_depth,
		const std::vector< std::shared_ptr< geometry::Image >> &	images_mask,
		const camera::PinholeCameraTrajectory &	camera,
		double	maximum_allowable_depth,
		double	depth_threshold_for_visiblity_check
	)

◆ Project3DPointAndGetUVDepth()

std::tuple< float, float, float > open3d::color_map::Project3DPointAndGetUVDepth	(	const Eigen::Vector3d	X,
		const camera::PinholeCameraTrajectory &	camera,
		int	camid
	)

inline

◆ QueryImageIntensity() [1/2]

template<typename T >

std::tuple< bool, T > open3d::color_map::QueryImageIntensity	(	const geometry::Image &	img,
		const Eigen::Vector3d &	V,
		const camera::PinholeCameraTrajectory &	camera,
		int	camid,
		int	ch,
		int	image_boundary_margin
	)

◆ QueryImageIntensity() [2/2]

template<typename T >

std::tuple< bool, T > open3d::color_map::QueryImageIntensity	(	const geometry::Image &	img,
		const ImageWarpingField &	field,
		const Eigen::Vector3d &	V,
		const camera::PinholeCameraTrajectory &	camera,
		int	camid,
		int	ch,
		int	image_boundary_margin
	)

◆ SetGeometryColorAverage() [1/2]

void open3d::color_map::SetGeometryColorAverage	(	geometry::TriangleMesh &	mesh,
		const std::vector< std::shared_ptr< geometry::Image >> &	images_color,
		const camera::PinholeCameraTrajectory &	camera,
		const std::vector< std::vector< int >> &	visiblity_vertex_to_image,
		int	image_boundary_margin,
		int	invisible_vertex_color_knn
	)

◆ SetGeometryColorAverage() [2/2]

void open3d::color_map::SetGeometryColorAverage	(	geometry::TriangleMesh &	mesh,
		const std::vector< std::shared_ptr< geometry::Image >> &	images_color,
		const std::vector< ImageWarpingField > &	warping_fields,
		const camera::PinholeCameraTrajectory &	camera,
		const std::vector< std::vector< int >> &	visiblity_vertex_to_image,
		int	image_boundary_margin,
		int	invisible_vertex_color_knn
	)

◆ SetProxyIntensityForVertex() [1/2]

void open3d::color_map::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 >> &	visiblity_vertex_to_image,
		std::vector< double > &	proxy_intensity,
		int	image_boundary_margin
	)

◆ SetProxyIntensityForVertex() [2/2]

void open3d::color_map::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 >> &	visiblity_vertex_to_image,
		std::vector< double > &	proxy_intensity,
		int	image_boundary_margin
	)

Data Structures

Functions