RigidOptimizer.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#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 RigidOptimizerOption {
    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>
RunRigidOptimizer(const geometry::TriangleMesh& mesh,
                  const std::vector<geometry::RGBDImage>& images_rgbd,
                  const camera::PinholeCameraTrajectory& camera_trajectory,
                  const RigidOptimizerOption& option);
 
}  // namespace color_map
}  // namespace pipelines
}  // namespace open3d