RigidOptimizer.h

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// ----------------------------------------------------------------------------
// -                        CloudViewer: www.cloudViewer.org                  -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.cloudViewer.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <Image.h>
#include <RGBDImage.h>
#include <ecvMesh.h>
 
#include <memory>
#include <vector>
 
#include "camera/PinholeCameraTrajectory.h"
 
namespace cloudViewer {
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<ccMesh, camera::PinholeCameraTrajectory> RunRigidOptimizer(
        const ccMesh& mesh,
        const std::vector<geometry::RGBDImage>& images_rgbd,
        const camera::PinholeCameraTrajectory& camera_trajectory,
        const RigidOptimizerOption& option);
 
}  // namespace color_map
}  // namespace pipelines
}  // namespace cloudViewer