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/*
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* Scene.h
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*
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* Copyright (c) 2014-2022 SEACAVE
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*
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* Author(s):
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*
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* cDc <cdc.seacave@gmail.com>
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*
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Affero General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Affero General Public License for more details.
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*
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* You should have received a copy of the GNU Affero General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*
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* Additional Terms:
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*
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* You are required to preserve legal notices and author attributions in
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* that material or in the Appropriate Legal Notices displayed by works
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* containing it.
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*/
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#ifndef _MVS_SCENE_H_
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#define _MVS_SCENE_H_
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// I N C L U D E S /////////////////////////////////////////////////
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#include "SceneDensify.h"
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#include "Mesh.h"
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// D E F I N E S ///////////////////////////////////////////////////
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// S T R U C T S ///////////////////////////////////////////////////
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namespace MVS {
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// Forward declarations
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struct MVS_API DenseDepthMapData;
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class MVS_API Scene
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{
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public:
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PlatformArr platforms; // camera platforms, each containing the mounted cameras and all known poses
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ImageArr images; // images, each referencing a platform's camera pose
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PointCloud pointcloud; // point-cloud (sparse or dense), each containing the point position and the views seeing it
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Mesh mesh; // mesh, represented as vertices and triangles, constructed from the input point-cloud
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OBB3f obb; // optional region-of-interest; oriented bounding box containing the entire scene
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unsigned nCalibratedImages; // number of valid images
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unsigned nMaxThreads; // maximum number of threads used to distribute the work load
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std::map<std::string, std::unordered_set<int>> visible_faces_map;
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std::unordered_set<int> face_visible_relative;
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public:
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inline Scene(unsigned _nMaxThreads=0)
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: obb(true), nMaxThreads(Thread::getMaxThreads(_nMaxThreads)) {}
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void Release();
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bool IsValid() const;
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bool IsEmpty() const;
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bool ImagesHaveNeighbors() const;
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bool IsBounded() const { return obb.IsValid(); }
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bool LoadInterface(const String& fileName);
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bool SaveInterface(const String& fileName, int version=-1) const;
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bool LoadDMAP(const String& fileName);
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bool LoadViewNeighbors(const String& fileName);
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bool SaveViewNeighbors(const String& fileName) const;
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bool Import(const String& fileName);
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enum SCENE_TYPE {
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SCENE_NA = 0,
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SCENE_INTERFACE = 1,
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SCENE_MVS = 2,
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SCENE_IMPORT = 3,
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};
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SCENE_TYPE Load(const String& fileName, bool bImport=false);
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bool Save(const String& fileName, ARCHIVE_TYPE type=ARCHIVE_DEFAULT) const;
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bool EstimateNeighborViewsPointCloud(unsigned maxResolution=16);
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void SampleMeshWithVisibility(unsigned maxResolution=320);
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bool ExportMeshToDepthMaps(const String& baseName);
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bool SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinViews = 3, unsigned nMinPointViews = 2, float fOptimAngle = FD2R(12), unsigned nInsideROI = 1);
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void SelectNeighborViews(unsigned nMinViews = 3, unsigned nMinPointViews = 2, float fOptimAngle = FD2R(12), unsigned nInsideROI = 1);
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static bool FilterNeighborViews(ViewScoreArr& neighbors, float fMinArea=0.1f, float fMinScale=0.2f, float fMaxScale=2.4f, float fMinAngle=FD2R(3), float fMaxAngle=FD2R(45), unsigned nMaxViews=12);
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bool ExportCamerasMLP(const String& fileName, const String& fileNameScene) const;
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static bool ExportLinesPLY(const String& fileName, const CLISTDEF0IDX(Line3f,uint32_t)& lines, const Pixel8U* colors=NULL, bool bBinary=true);
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// sub-scene split and save
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struct ImagesChunk {
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std::unordered_set<IIndex> images;
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AABB3f aabb;
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};
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typedef cList<ImagesChunk,const ImagesChunk&,2,16,uint32_t> ImagesChunkArr;
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unsigned Split(ImagesChunkArr& chunks, float maxArea, int depthMapStep=8) const;
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bool ExportChunks(const ImagesChunkArr& chunks, const String& path, ARCHIVE_TYPE type=ARCHIVE_DEFAULT) const;
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// Transform scene
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bool Center(const Point3* pCenter = NULL);
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bool Scale(const REAL* pScale = NULL);
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bool ScaleImages(unsigned nMaxResolution = 0, REAL scale = 0, const String& folderName = String());
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void Transform(const Matrix3x3& rotation, const Point3& translation, REAL scale);
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void Transform(const Matrix3x4& transform);
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bool AlignTo(const Scene&);
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REAL ComputeLeveledVolume(float planeThreshold=0, float sampleMesh=-100000, unsigned upAxis=2, bool verbose=true);
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// Estimate and set region-of-interest
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bool EstimateROI(int nEstimateROI=0, float scale=1.f);
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// Tower scene
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bool ComputeTowerCylinder(Point2f& centerPoint, float& fRadius, float& fROIRadius, float& zMin, float& zMax, float& minCamZ, const int towerMode);
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void InitTowerScene(const int towerMode);
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size_t DrawCircle(PointCloud& pc,PointCloud::PointArr& outCircle, const Point3f& circleCenter, const float circleRadius, const unsigned nTargetPoints, const float fStartAngle, const float fAngleBetweenPoints);
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PointCloud BuildTowerMesh(const PointCloud& origPointCloud, const Point2f& centerPoint, const float fRadius, const float fROIRadius, const float zMin, const float zMax, const float minCamZ, bool bFixRadius = false);
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// Dense reconstruction
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bool DenseReconstruction(int nFusionMode=0, bool bCrop2ROI=true, float fBorderROI=0);
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bool ComputeDepthMaps(DenseDepthMapData& data);
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void DenseReconstructionEstimate(void*);
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void DenseReconstructionFilter(void*);
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void PointCloudFilter(int thRemove=-1);
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// Mesh reconstruction
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bool ReconstructMesh(float distInsert=2, bool bUseFreeSpaceSupport=true, bool bUseOnlyROI=false, unsigned nItersFixNonManifold=4,
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float kSigma=2.f, float kQual=1.f, float kb=4.f,
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float kf=3.f, float kRel=0.1f/*max 0.3*/, float kAbs=1000.f/*min 500*/, float kOutl=400.f/*max 700.f*/,
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float kInf=(float)(INT_MAX/8));
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// Mesh refinement
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bool RefineMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned nMaxViews, float fDecimateMesh, unsigned nCloseHoles, unsigned nEnsureEdgeSize,
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unsigned nMaxFaceArea, unsigned nScales, float fScaleStep, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity, float fGradientStep,
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float fThPlanarVertex=0.f, unsigned nReduceMemory=1);
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#ifdef _USE_CUDA
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bool RefineMeshCUDA(unsigned nResolutionLevel, unsigned nMinResolution, unsigned nMaxViews, float fDecimateMesh, unsigned nCloseHoles, unsigned nEnsureEdgeSize,
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unsigned nMaxFaceArea, unsigned nScales, float fScaleStep, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity, float fGradientStep);
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#endif
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// Mesh texturing
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bool TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned minCommonCameras=0, float fOutlierThreshold=0.f, float fRatioDataSmoothness=0.3f,
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bool bGlobalSeamLeveling=true, bool bLocalSeamLeveling=true, unsigned nTextureSizeMultiple=0, unsigned nRectPackingHeuristic=3, Pixel8U colEmpty=Pixel8U(255,127,39),
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float fSharpnessWeight=0.5f, int ignoreMaskLabel=-1, int maxTextureSize=0, const IIndexArr& views=IIndexArr(), const SEACAVE::String& basename = "", bool bOriginFaceview = false);
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bool is_face_visible(const std::string& image_name, int face_index);
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bool is_face_visible_relative(int face_index);
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void SegmentMeshBasedOnCurvature(Mesh::FaceIdxArr& regionMap, float curvatureThreshold);
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#ifdef _USE_BOOST
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// implement BOOST serialization
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template <class Archive>
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void serialize(Archive& ar, const unsigned int /*version*/) {
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ar & platforms;
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ar & images;
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ar & pointcloud;
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ar & mesh;
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ar & obb;
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}
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#endif
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};
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/*----------------------------------------------------------------*/
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} // namespace MVS
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#endif // _MVS_SCENE_H_
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