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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include <vector>
#include "open3d/Open3D.h"
using namespace open3d;
std::tuple<geometry::TriangleMesh,
std::vector<geometry::RGBDImage>,
camera::PinholeCameraTrajectory>
PrepareDataset() {
data::SampleFountainRGBDImages fountain_rgbd;
// Read RGBD images
std::vector<geometry::RGBDImage> rgbd_images;
for (size_t i = 0; i < fountain_rgbd.GetDepthPaths().size(); i++) {
utility::LogDebug("reading {}...", fountain_rgbd.GetDepthPaths()[i]);
auto depth = io::CreateImageFromFile(fountain_rgbd.GetDepthPaths()[i]);
utility::LogDebug("reading {}...", fountain_rgbd.GetColorPaths()[i]);
auto color = io::CreateImageFromFile(fountain_rgbd.GetColorPaths()[i]);
auto rgbd_image = geometry::RGBDImage::CreateFromColorAndDepth(
*color, *depth, 1000.0, 3.0, false);
rgbd_images.push_back(*rgbd_image);
}
// Camera trajectory.
camera::PinholeCameraTrajectory camera_trajectory;
io::ReadPinholeCameraTrajectory(fountain_rgbd.GetKeyframePosesLogPath(),
camera_trajectory);
// Mesh.
geometry::TriangleMesh mesh;
io::ReadTriangleMesh(fountain_rgbd.GetReconstructionPath(), mesh);
return std::make_tuple(mesh, rgbd_images, camera_trajectory);
}
/// This is implementation of following paper
/// Q.-Y. Zhou and V. Koltun,
/// Color Map Optimization for 3D Reconstruction with Consumer Depth Cameras,
/// SIGGRAPH 2014
int main(int argc, char* argv[]) {
utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
// Read dataset.
geometry::TriangleMesh mesh;
std::vector<geometry::RGBDImage> rgbd_images;
camera::PinholeCameraTrajectory camera_trajectory;
std::tie(mesh, rgbd_images, camera_trajectory) = PrepareDataset();
// Save averaged color map (iteration=0).
pipelines::color_map::RigidOptimizerOption rigid_opt_option;
rigid_opt_option.maximum_iteration_ = 0;
std::tie(mesh, camera_trajectory) = pipelines::color_map::RunRigidOptimizer(
mesh, rgbd_images, camera_trajectory, rigid_opt_option);
io::WriteTriangleMesh("color_map_init.ply", mesh);
// Run rigid optimization for 300 iterations.
rigid_opt_option.maximum_iteration_ = 300;
std::tie(mesh, camera_trajectory) = pipelines::color_map::RunRigidOptimizer(
mesh, rgbd_images, camera_trajectory, rigid_opt_option);
io::WriteTriangleMesh("color_map_rigid_opt.ply", mesh);
// Run non-rigid optimization for 300 iterations.
pipelines::color_map::NonRigidOptimizerOption non_rigid_option;
non_rigid_option.maximum_iteration_ = 300;
std::tie(mesh, camera_trajectory) =
pipelines::color_map::RunNonRigidOptimizer(
mesh, rgbd_images, camera_trajectory, non_rigid_option);
io::WriteTriangleMesh("color_map_non_rigid_opt.ply", mesh);
return 0;
}
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