open3d.pipelines.color_map.color_map_optimization

open3d.pipelines.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.cpu.pybind.geometry.TriangleMesh) – The input geometry mesh.

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

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

  • option (open3d.cpu.pybind.pipelines.color_map.ColorMapOptimizationOption, optional) –

    The ColorMap optimization option. Default value:

    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_visibility_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