NonRigidOptimizer.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018-2021 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------

#pragma once

#include <memory>
#include <vector>

#include "open3d/camera/PinholeCameraTrajectory.h"
#include "open3d/geometry/Image.h"
#include "open3d/geometry/RGBDImage.h"
#include "open3d/geometry/TriangleMesh.h"

namespace open3d {
namespace pipelines {
namespace color_map {

struct NonRigidOptimizerOption {
    int number_of_vertical_anchors_ = 16;

    double non_rigid_anchor_point_weight_ = 0.316;

    int maximum_iteration_ = 300;

    double maximum_allowable_depth_ = 2.5;

    double depth_threshold_for_visibility_check_ = 0.03;

    double depth_threshold_for_discontinuity_check_ = 0.1;

    int half_dilation_kernel_size_for_discontinuity_map_ = 3;

    int image_boundary_margin_ = 10;

    int invisible_vertex_color_knn_ = 3;

    std::string debug_output_dir_ = "";
};

std::pair<geometry::TriangleMesh, camera::PinholeCameraTrajectory>
RunNonRigidOptimizer(const geometry::TriangleMesh& mesh,
                     const std::vector<geometry::RGBDImage>& images_rgbd,
                     const camera::PinholeCameraTrajectory& camera_trajectory,
                     const NonRigidOptimizerOption& option);

}  // namespace color_map
}  // namespace pipelines
}  // namespace open3d