ColorMapOptimization Class Reference

#include <RGBD/Include/ImFusion/RGBD/ColorMapOptimization.h>

Provides color map optimization for textured mesh generation from RGB data. More...

Inheritance diagram for ColorMapOptimization:

Detailed Description

Provides color map optimization for textured mesh generation from RGB data.

This class is intended for post-processing reconstructed meshes to improve texture quality by optimizing the mapping between color images and mesh surfaces. It supports both rigid and non-rigid optimization, and exposes several parameters to control the optimization process.

Typical usage involves providing a set of RGB images and a reconstructed mesh, then calling texture() to generate a new mesh with improved texture mapping. The RGB images must be associated with camera poses and intrinsics. These are provided via the RGBDDataComponent elements in the SharedImageSet.

SharedImageSet imageSet;    // needs to be given
Mesh inputMesh;             // needs to be given
ColorMapOptimization optimizer;
optimizer.setMaxIterations(200);
optimizer.setNonRigidOptimization(true);
optimizer.setSubdivisionResolution(2.0);    
optimizer.setMaxDepth(3000);                
Mesh* texturedMesh = nullptr;
bool success = optimizer.texture(imageSet, inputMesh, texturedMesh);
if (success)
{ /* use texturedMesh */
}

Note

• All units for depth, resolution, and thresholds are in world units (usually millimeters) unless otherwise stated.
• The input SharedImageSet must contain RGBDDataComponent elements for correct operation.
• Ownership of the output mesh (meshOut) is transferred to the caller; caller is responsible for deletion.

See also

Mesh, SharedImageSet

All methods are not thread-safe unless otherwise stated.

Public Member Functions
void	setErosionRadius (int radius)
	Sets the radius (in pixels) for erosion applied to the mask during optimization.
void	setDepthDiscontinuityThreshold (double thresh)
	Sets the threshold (in world units, usually mm) for detecting depth discontinuities.
void	setSubdivisionResolution (double res)
	Sets the target resolution (in world units, usually mm) for mesh subdivision.
void	setMaxIterations (int iter)
	Sets the maximum number of optimization iterations.
void	setNonRigidOptimization (bool nonRigid)
	Enables or disables non-rigid optimization.
void	setMaxDepth (double maxDepth)
	Sets the maximum depth (in world units, usually mm) for considering points in the optimization.
void	setDepthVisibilityThreshold (double thresh)
	Sets the threshold (in world units, usually mm) for depth visibility.
bool	texture (const SharedImageSet &img, Mesh &meshIn, Mesh *&meshOut)
	Optimizes the texture mapping of the input mesh using the provided RGB images.
void	configure (const Properties *p) override
	Configures the optimizer from a Properties object.
void	configuration (Properties *p) const override
	Writes the current configuration to a Properties object.
Public Member Functions inherited from Configurable
virtual void	configureDefaults ()
	Retrieve the properties of this object, replaces values with their defaults and sets it again.
void	registerParameter (ParameterBase *param)
	Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration().
void	unregisterParameter (const ParameterBase *param)
	Remove the given Parameter or SubProperty from the list of registered parameters.
	Configurable (const Configurable &rhs)
	Configurable (Configurable &&rhs) noexcept
Configurable &	operator= (const Configurable &)
Configurable &	operator= (Configurable &&) noexcept

Additional Inherited Members
Public Attributes inherited from Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted.
Protected Attributes inherited from Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.

Member Function Documentation

setErosionRadius()

void setErosionRadius ( int radius )

inline

Sets the radius (in pixels) for erosion applied to the mask during optimization.

Larger values can help remove small artifacts but may reduce texture coverage.

setDepthDiscontinuityThreshold()

void setDepthDiscontinuityThreshold ( double thresh )

inline

Sets the threshold (in world units, usually mm) for detecting depth discontinuities.

Higher values make the algorithm less sensitive to depth jumps.

setSubdivisionResolution()

void setSubdivisionResolution ( double res )

inline

Sets the target resolution (in world units, usually mm) for mesh subdivision.

Use -1 to disable subdivision.

setNonRigidOptimization()

void setNonRigidOptimization ( bool nonRigid )

inline

Enables or disables non-rigid optimization.

Non-rigid optimization can better handle local misalignments but is slower.

setMaxDepth()

void setMaxDepth ( double maxDepth )

inline

Sets the maximum depth (in world units, usually mm) for considering points in the optimization.

Points beyond this depth are ignored.

setDepthVisibilityThreshold()

void setDepthVisibilityThreshold ( double thresh )

inline

Sets the threshold (in world units, usually mm) for depth visibility.

Controls which points are considered visible during optimization.

texture()

bool texture	(	const SharedImageSet &	img,
		Mesh &	meshIn,
		Mesh *&	meshOut )

Optimizes the texture mapping of the input mesh using the provided RGB images.

Parameters

img	SharedImageSet containing a set of RGB images with associated camera poses and intrinsics given by elementwise RGBDDataComponent.
meshIn	Input mesh to be textured.
meshOut	Output pointer to the newly textured mesh. Ownership is transferred to the caller.

Returns

true if optimization and texturing succeeded, false otherwise.

Precondition: meshIn must be a valid, reconstructed mesh; img must contain corresponding RGBDDataComponents (elementwise). Postcondition: meshOut points to a new mesh instance with optimized texture mapping.

configure()

void configure ( const Properties * p )

overridevirtual

Configures the optimizer from a Properties object.

Parameters

p	Properties object containing configuration parameters.

This method is typically used for loading settings from a workspace or configuration file.

Reimplemented from Configurable.

configuration()

void configuration ( Properties * p ) const

overridevirtual

Writes the current configuration to a Properties object.

Parameters

p	Properties object to be filled with current settings.

Reimplemented from Configurable.

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The documentation for this class was generated from the following file:

• RGBD/Include/ImFusion/RGBD/ColorMapOptimization.h