Open3D (C++ API)  0.19.0
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ColorMapUtils.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2024 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
10#include <memory>
11#include <vector>
12
20
21namespace open3d {
22namespace pipelines {
23namespace color_map {
24
25std::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>>
30CreateUtilImagesFromRGBD(const std::vector<geometry::RGBDImage>& images_rgbd);
31
32std::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
37std::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