open3d.color_map.color_map_optimization

open3d.color_map.color_map_optimization(mesh, imgs_rgbd, camera, option=(with default value))

Function for color mapping of reconstructed scenes via optimization, This is implementation of following by paper Q-Y Zhou and V Koltun: Color Map optimization for 3D Reconstruction with Consumer Depth Cameras, SIGGRAPH 2014.

Parameters

• mesh (open3d.geometry.TriangleMesh) – The input geometry mesh.

• imgs_rgbd (List[open3d.geometry.RGBDImage]) – A list of RGBD images seen by cameras.

• camera (open3d.camera.PinholeCameraTrajectory) – Cameras’ parameters.

• option (open3d.color_map.ColorMapOptimizationOption, optional) –

  The ColorMap optimization option. Default value:

  color_map.ColorMapOptimizationOption with

  • non_rigid_camera_coordinate: false

  • number_of_vertical_anchors: 16

  • non_rigid_anchor_point_weight: 0.316

  • maximum_iteration: 300

  • maximum_allowable_depth: 2.5

  • depth_threshold_for_visiblity_check: 0.03

  • depth_threshold_for_discontinuity_check: 0.1

  • half_dilation_kernel_size_for_discontinuity_map: 3

  • image_boundary_margin: 10

  • invisible_vertex_color_knn: 3

Returns

None