From 10accfce739935c7b27a4d9f6d9f054db6cb90f2 Mon Sep 17 00:00:00 2001 From: hesuicong Date: Fri, 4 Sep 2026 15:59:52 +0800 Subject: [PATCH] =?UTF-8?q?=E8=BF=9B=E4=B8=80=E6=AD=A5=E4=BC=98=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- libs/MVS/SceneTexture.cpp | 210 +++++++++++++++++--------------------- 1 file changed, 91 insertions(+), 119 deletions(-) diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp index 1887f4c..7bcf50b 100644 --- a/libs/MVS/SceneTexture.cpp +++ b/libs/MVS/SceneTexture.cpp @@ -14483,132 +14483,95 @@ void MeshTexture::LocalSeamBlending(Image8U3& atlas, int textureSize) // 在 seam edge 上采样两侧 patch 的颜色，求解每个 patch 的偏移量 void MeshTexture::GlobalPatchColorAlignment(Image8U3& atlas, int textureSize) { - DEBUG_EXTRA(">>> GlobalPatchColorAlignment called: rcSeamEdges=%zu, patchAvgColor=%zu", - rcSeamEdges.size(), patchAvgColor.size()); if (rcSeamEdges.empty() || rcPatches.empty()) return; - if (patchAvgColor.empty()) return; - - DEBUG_EXTRA("Global color adjustment (patch-level, no blocks)..."); - TD_TIMER_START(); - - const int NP = (int)rcPatches.size(); - - struct Constraint { int pa, pb; float dR, dG, dB; }; - std::vector constraints; - constraints.reserve(rcSeamEdges.size()); - - int skipNoFace = 0, skipSameView = 0; - - for (const auto& e : rcSeamEdges) { - if (e.rcPatchID0 >= NP || e.rcPatchID1 >= NP) { skipNoFace++; continue; } - - // ★ 关键：不再检查 proj / black，只检查是否同一个 view - if (rcPatches[e.rcPatchID0].viewID == rcPatches[e.rcPatchID1].viewID) { - skipSameView++; // 同一视图的 patch 之间不需要颜色校正 - continue; - } - - const Color& colorA = patchAvgColor[e.rcPatchID0]; - const Color& colorB = patchAvgColor[e.rcPatchID1]; - - // 只用平均色差作为约束（m_patchAvgColor 在光栅化后统计，已经是干净数据） - constraints.push_back({ - e.rcPatchID0, e.rcPatchID1, - colorB[0] - colorA[0], // R - colorB[1] - colorA[1], // G - colorB[2] - colorA[2] // B - }); - } - - DEBUG_EXTRA("Constraints: %zu (skip: noFace=%d, sameView=%d)", - constraints.size(), skipNoFace, skipSameView); - - if (constraints.size() < 10) { // ★ 至少 10 条约束才求解 - DEBUG_EXTRA("Too few constraints, skip global alignment"); - return; - } - - const int rows = (int)constraints.size(); - // 构建稀疏矩阵 A 和 b - std::vector> triplets; - triplets.reserve(rows * 2 + NP); // 约束 + 正则化 - Eigen::VectorXf bR(rows), bG(rows), bB(rows); + const int NP = (int)rcPatches.size(); - for (int i = 0; i < rows; ++i) { - triplets.emplace_back(i, constraints[i].pa, -1.0f); - triplets.emplace_back(i, constraints[i].pb, 1.0f); - bR(i) = constraints[i].dR; - bG(i) = constraints[i].dG; - bB(i) = constraints[i].dB; - } + // 1. 统计每个 patch 的真实平均色（用 m_texelPatchID，只统计该 patch 拥有的像素） + std::vector patchSum(NP, cv::Vec3d(0,0,0)); + std::vector patchCount(NP, 0); - // 正则化：所有 patch 的偏移量尽量小（Tikhonov） - const float lambda = 10.05f; - for (int i = 0; i < NP; ++i) { - triplets.emplace_back(rows + i, i, lambda); + for (int y = 0; y < textureSize; ++y) { + for (int x = 0; x < textureSize; ++x) { + size_t idx = y * textureSize + x; + if (m_texelPatchID[idx] == NO_ID) continue; + int pid = m_texelPatchID[idx]; + if (pid >= NP) continue; + + const Pixel8U& px = atlas(y, x); + // ★ 高光/暗部剔除：丢弃过暗和过亮的像素 + float lum = px[0] + px[1] + px[2]; + if (lum < 15 || lum > 740) continue; // 去掉死黑和高光 + + patchSum[pid][0] += px[2]; + patchSum[pid][1] += px[1]; + patchSum[pid][2] += px[0]; + patchCount[pid]++; + } } - Eigen::SparseMatrix A(rows + NP, NP); - A.setFromTriplets(triplets.begin(), triplets.end()); + // 2. 对每个接缝，做距离加权的颜色混合（只在接缝带内） + const int bandWidth = 12; // 接缝混合带宽（像素） - // ===== 纯稀疏求解，绝不转稠密 ===== - Eigen::VectorXf xR(NP), xG(NP), xB(NP); - { - // 计算 AtA = A^T * A （稀疏矩阵乘法，结果还是稀疏的） - Eigen::SparseMatrix AtA = A.transpose() * A; + #pragma omp parallel for + for (int eidx = 0; eidx < (int)rcSeamEdges.size(); ++eidx) { + const auto& e = rcSeamEdges[eidx]; + if (e.rcPatchID0 >= NP || e.rcPatchID1 >= NP) continue; - // 加对角阻尼，保证正定（coeffRef 会在对角线插入元素） - for (int i = 0; i < NP; ++i) { - AtA.coeffRef(i, i) += 1e-6f; - } + int pa = e.rcPatchID0, pb = e.rcPatchID1; + if (rcPatches[pa].viewID == rcPatches[pb].viewID) continue; // 同视图不需要 - // 计算 A^T * b - Eigen::VectorXf AtbR = A.transpose() * bR; - Eigen::VectorXf AtbG = A.transpose() * bG; - Eigen::VectorXf AtbB = A.transpose() * bB; + // 计算两个 patch 的平均色差 + if (patchCount[pa] < 10 || patchCount[pb] < 10) continue; + cv::Vec3d avgA = patchSum[pa] / patchCount[pa]; + cv::Vec3d avgB = patchSum[pb] / patchCount[pb]; - // ★ 用 SparseLU 求解（不挑矩阵，稳定，不会 lpNorm crash） - Eigen::SparseLU> solver; - solver.compute(AtA); - if (solver.info() != Eigen::Success) { - DEBUG_EXTRA("GlobalPatchColorAlignment: SparseLU decomposition failed"); - return; - } + // 色差太小就不处理了（视角差异是物理正确的） + double colorDiff = std::abs(avgA[0]-avgB[0]) + std::abs(avgA[1]-avgB[1]) + std::abs(avgA[2]-avgB[2]); + if (colorDiff < 20.0) continue; // ← 阈值：差异小于 20 不管 - xR = solver.solve(AtbR); - xG = solver.solve(AtbG); - xB = solver.solve(AtbB); + // 在重叠区域内做渐变混合 + cv::Rect overlap = rcPatches[pa].rect & rcPatches[pb].rect; + if (overlap.width <= 0 || overlap.height <= 0) continue; - if (solver.info() != Eigen::Success) { - DEBUG_EXTRA("GlobalPatchColorAlignment: SparseLU solve failed"); - return; + for (int y = overlap.y; y < overlap.y + overlap.height; ++y) { + for (int x = overlap.x; x < overlap.x + overlap.width; ++x) { + size_t idx = y * textureSize + x; + if (m_texelPatchID[idx] == NO_ID) continue; + + int pid = m_texelPatchID[idx]; + if (pid != pa && pid != pb) continue; // 只处理接缝两侧的 patch + + // 到重叠区边界的距离（0=中心, 1=边缘） + int dxL = x - overlap.x; + int dxR = (overlap.x + overlap.width - 1) - x; + int dyT = y - overlap.y; + int dyB = (overlap.y + overlap.height - 1) - y; + int dist = std::min({dxL, dxR, dyT, dyB}); + if (dist >= bandWidth) continue; // 只在带内混合 + + float t = (float)dist / bandWidth; // 0=中心, 1=边缘 + // 余弦平滑 + float w = 0.5f * (1.0f - cosf(M_PI * t)); + + Pixel8U& px = atlas(y, x); + if (px[0] < 5 && px[1] < 5 && px[2] < 5) continue; + + // 如果是 patch A 的像素，向 patch B 的颜色混合 + if (pid == pa) { + px[2] = cv::saturate_cast(px[2] * (1-w) + avgB[0] * w); + px[1] = cv::saturate_cast(px[1] * (1-w) + avgB[1] * w); + px[0] = cv::saturate_cast(px[0] * (1-w) + avgB[2] * w); + } else { + px[2] = cv::saturate_cast(px[2] * (1-w) + avgA[0] * w); + px[1] = cv::saturate_cast(px[1] * (1-w) + avgA[1] * w); + px[0] = cv::saturate_cast(px[0] * (1-w) + avgA[2] * w); + } + } } } - // 应用：对每个 patch 的像素加上偏移（加性，限制幅度） - const float maxAdj = 50.0f; // 8-bit 空间最大偏移 - // 应用：对每个像素，如果它属于 patch i，才加偏移 - #pragma omp parallel for - for (int y = 0; y < textureSize; ++y) { - for (int x = 0; x < textureSize; ++x) { - size_t idx = y * textureSize + x; - if (m_texelPatchID[idx] == NO_ID) continue; - - int pid = m_texelPatchID[idx]; - const float adjR = std::max(-maxAdj, std::min(maxAdj, xR(pid))); - const float adjG = std::max(-maxAdj, std::min(maxAdj, xG(pid))); - const float adjB = std::max(-maxAdj, std::min(maxAdj, xB(pid))); - - Pixel8U& px = atlas(y, x); - if (px[0]==0 && px[1]==0 && px[2]==0) continue; - px[2] = (uint8_t)CLAMP(px[2] + adjR, 0.f, 255.f); - px[1] = (uint8_t)CLAMP(px[1] + adjG, 0.f, 255.f); - px[0] = (uint8_t)CLAMP(px[0] + adjB, 0.f, 255.f); - } - } - - DEBUG_EXTRA("Global alignment done: %d constraints (%s)", rows, TD_TIMER_GET_FMT().c_str()); + DEBUG_EXTRA("Seam-only gradient blending applied (no global gain)"); } // ========== Patch Color Alignment（改进版，不依赖 GlobalPatchColorAlignment）========== @@ -14820,7 +14783,7 @@ bool MeshTexture::RasterizeVirtualFaces( } } cv::Mat patch; - cv::remap(srcImg.image, patch, mapX, mapY, cv::INTER_LINEAR, cv::BORDER_CONSTANT, cv::Scalar(0,0,0)); + cv::remap(srcImg.image, patch, mapX, mapY, cv::INTER_NEAREST, cv::BORDER_CONSTANT, cv::Scalar(0,0,0)); // 应用光度校正 const cv::Vec3f& gain = (viewID < (IIndex)m_imageGains.size()) ? m_imageGains[viewID] : cv::Vec3f(1,1,1); @@ -14843,7 +14806,10 @@ bool MeshTexture::RasterizeVirtualFaces( for (int y = 0; y < patchH; ++y) { for (int x = 0; x < patchW; ++x) { cv::Vec3b color = patch.at(y, x); - if (color[0]==0 && color[1]==0 && color[2]==0) continue; + + // if (color[0]==0 && color[1]==0 && color[2]==0) continue; + if (color[0] < 5 && color[1] < 5 && color[2] < 5) continue; + int atlasX = x + minX, atlasY = y + minY; if (atlasX<0||atlasX>=textureSize||atlasY<0||atlasY>=textureSize) continue; size_t idx = atlasY * textureSize + atlasX; @@ -14851,6 +14817,10 @@ bool MeshTexture::RasterizeVirtualFaces( // ★ 已删除错误放在这里的 m_texelPatchID.assign(...) if (currentScore > m_texelScores[idx].score) { + color[0] = cv::saturate_cast(std::min(255.0f, color[0] * 1.05f)); + color[1] = cv::saturate_cast(std::min(255.0f, color[1] * 1.05f)); + color[2] = cv::saturate_cast(std::min(255.0f, color[2] * 1.05f)); + atlas(atlasY, atlasX) = Pixel8U{color[2], color[1], color[0]}; m_texelScores[idx].score = currentScore; m_texelScores[idx].viewID = viewID; @@ -14916,8 +14886,10 @@ bool MeshTexture::RasterizeVirtualFaces( DEBUG_EXTRA("Patch avg color computed: %d patches, %d with pixels", NP, NP - std::count(pixelCount.begin(), pixelCount.end(), 0)); - - for (int iter = 0; iter < 3; ++iter) { + + + // for (int iter = 0; iter < 3; ++iter) { + for (int iter = 0; iter < 1; ++iter) { AlignPatchColors(atlas, m_texelPatchID, textureSize); } @@ -15870,14 +15842,14 @@ if (!g_avgColorsComputed) { float s_occlusion = ComputeOcclusionPenalty( p0, p1, p2, img.image.cols, img.image.rows, 8); - float rawScore = 1.0f * s_normal - + 0.7f * s_resolution - - 0.3f * s_occlusion; + float rawScore = 3.0f * s_normal // 正视角优先 + + 0.5f * s_resolution + - 0.1f * s_occlusion; float score = rawScore; // ========== 颜色一致性代价 ========== { - const float lambda = 20.35f; + const float lambda = 2.35f; // ========== 收集邻居颜色（修复版：1-ring + faceToView）========== std::vector neighborColors; if (!scene.mesh.faceFaces.empty() && faceID < scene.mesh.faceFaces.size()) {