Open3D (C++ API)  0.18.0+252c867
ColorMapUtils.h
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1 // ----------------------------------------------------------------------------
2 // - Open3D: www.open3d.org -
3 // ----------------------------------------------------------------------------
4 // Copyright (c) 2018-2023 www.open3d.org
5 // SPDX-License-Identifier: MIT
6 // ----------------------------------------------------------------------------
7 
8 #pragma once
9 
10 #include <memory>
11 #include <vector>
12 
14 #include "open3d/geometry/Image.h"
18 #include "open3d/utility/Eigen.h"
20 
21 namespace open3d {
22 namespace pipelines {
23 namespace color_map {
24 
25 std::tuple<std::vector<geometry::Image>,
26  std::vector<geometry::Image>,
27  std::vector<geometry::Image>,
28  std::vector<geometry::Image>,
29  std::vector<geometry::Image>>
30 CreateUtilImagesFromRGBD(const std::vector<geometry::RGBDImage>& images_rgbd);
31 
32 std::vector<geometry::Image> CreateDepthBoundaryMasks(
33  const std::vector<geometry::Image>& images_depth,
34  double depth_threshold_for_discontinuity_check,
35  int half_dilation_kernel_size_for_discontinuity_map);
36 
37 std::tuple<std::vector<std::vector<int>>, std::vector<std::vector<int>>>
39  const geometry::TriangleMesh& mesh,
40  const std::vector<geometry::Image>& images_depth,
41  const std::vector<geometry::Image>& images_mask,
42  const camera::PinholeCameraTrajectory& camera_trajectory,
43  double maximum_allowable_depth,
44  double depth_threshold_for_visibility_check);
45 
47  const geometry::TriangleMesh& mesh,
48  const std::vector<geometry::Image>& images_gray,
49  const utility::optional<std::vector<ImageWarpingField>>& warping_fields,
50  const camera::PinholeCameraTrajectory& camera_trajectory,
51  const std::vector<std::vector<int>>& visibility_vertex_to_image,
52  std::vector<double>& proxy_intensity,
53  int image_boundary_margin);
54 
56  geometry::TriangleMesh& mesh,
57  const std::vector<geometry::Image>& images_color,
58  const utility::optional<std::vector<ImageWarpingField>>& warping_fields,
59  const camera::PinholeCameraTrajectory& camera_trajectory,
60  const std::vector<std::vector<int>>& visibility_vertex_to_image,
61  int image_boundary_margin = 10,
62  int invisible_vertex_color_knn = 3);
63 
64 } // namespace color_map
65 } // namespace pipelines
66 } // namespace open3d
std::tuple< std::vector< geometry::Image >, std::vector< geometry::Image >, std::vector< geometry::Image >, std::vector< geometry::Image >, std::vector< geometry::Image > > CreateUtilImagesFromRGBD(const std::vector< geometry::RGBDImage > &images_rgbd)
Definition: ColorMapUtils.cpp:78
void SetProxyIntensityForVertex(const geometry::TriangleMesh &mesh, const std::vector< geometry::Image > &images_gray, const utility::optional< std::vector< ImageWarpingField >> &warping_fields, const camera::PinholeCameraTrajectory &camera_trajectory, const std::vector< std::vector< int >> &visibility_vertex_to_image, std::vector< double > &proxy_intensity, int image_boundary_margin)
Definition: ColorMapUtils.cpp:185
std::tuple< std::vector< std::vector< int > >, std::vector< std::vector< int > > > CreateVertexAndImageVisibility(const geometry::TriangleMesh &mesh, const std::vector< geometry::Image > &images_depth, const std::vector< geometry::Image > &images_mask, const camera::PinholeCameraTrajectory &camera_trajectory, double maximum_allowable_depth, double depth_threshold_for_visibility_check)
Definition: ColorMapUtils.cpp:119
void SetGeometryColorAverage(geometry::TriangleMesh &mesh, const std::vector< geometry::Image > &images_color, const utility::optional< std::vector< ImageWarpingField >> &warping_fields, const camera::PinholeCameraTrajectory &camera_trajectory, const std::vector< std::vector< int >> &visibility_vertex_to_image, int image_boundary_margin, int invisible_vertex_color_knn)
Definition: ColorMapUtils.cpp:229
std::vector< geometry::Image > CreateDepthBoundaryMasks(const std::vector< geometry::Image > &images_depth, double depth_threshold_for_discontinuity_check, int half_dilation_kernel_size_for_discontinuity_map)
Definition: ColorMapUtils.cpp:102
Definition: PinholeCameraIntrinsic.cpp:16