hesuicong
/
openMVS
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

中间版本

ManualUV
hesuicong 4 weeks ago
parent
84a492600f
commit
1b93beb86a
1 changed files with 419 additions and 291 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 690
      libs/MVS/SceneTexture.cpp

690
libs/MVS/SceneTexture.cpp
Unescape View File

@ -485,6 +485,7 @@ public:
Mesh::Image8U3Arr GenerateTextureAtlasFromUV(const LabelArr& faceLabels, const IIndexArr& views, unsigned nTextureSizeMultiple, Pixel8U colEmpty, float fSharpnessWeight); Mesh::Image8U3Arr GenerateTextureAtlasFromUV(const LabelArr& faceLabels, const IIndexArr& views, unsigned nTextureSizeMultiple, Pixel8U colEmpty, float fSharpnessWeight);
Mesh::Image8U3Arr GenerateTextureAtlasFromExistingTextures(const LabelArr& faceLabels, const IIndexArr& views, int textureSize, Pixel8U colEmpty, float fSharpnessWeight); Mesh::Image8U3Arr GenerateTextureAtlasFromExistingTextures(const LabelArr& faceLabels, const IIndexArr& views, int textureSize, Pixel8U colEmpty, float fSharpnessWeight);
Mesh::Image8U3Arr GenerateTextureAtlasFromImages(const LabelArr& faceLabels, const IIndexArr& views, int textureSize, Pixel8U colEmpty, float fSharpnessWeight); Mesh::Image8U3Arr GenerateTextureAtlasFromImages(const LabelArr& faceLabels, const IIndexArr& views, int textureSize, Pixel8U colEmpty, float fSharpnessWeight);
void ValidateGeneratedTexture(const Image8U3& texture, const std::string& name);
Pixel8U SampleFromExistingTextureAtBarycentric(FIndex faceID, const Point3f& barycentric, const Image8U3& existingTexture); Pixel8U SampleFromExistingTextureAtBarycentric(FIndex faceID, const Point3f& barycentric, const Image8U3& existingTexture);
Point2f ProjectPointWithAutoCorrection(const Camera& camera, const Vertex& worldPoint, const Image& sourceImage); Point2f ProjectPointWithAutoCorrection(const Camera& camera, const Vertex& worldPoint, const Image& sourceImage);
Point2f ProjectPointRobust(const Camera& camera, const Vertex& worldPoint, const Image& sourceImage, float searchRadius = 0.02f); Point2f ProjectPointRobust(const Camera& camera, const Vertex& worldPoint, const Image& sourceImage, float searchRadius = 0.02f);
@ -9904,42 +9905,110 @@ void MeshTexture::GenerateTexture2(bool bGlobalSeamLeveling, bool bLocalSeamLeve
#include <opencv2/imgcodecs.hpp> #include <opencv2/imgcodecs.hpp>
// 保存生成的纹理图集
bool SaveGeneratedTextures(const Mesh::Image8U3Arr& generatedTextures, const std::string& outputDir) { void DebugCheckTexture(const cv::Mat& texture, const std::string& name)
if (generatedTextures.empty()) { {
DEBUG_EXTRA("错误: 没有纹理可保存"); if (texture.empty()) {
return false; DEBUG_EXTRA("%s: 纹理为空!", name.c_str());
return;
} }
// 确保输出目录存在 DEBUG_EXTRA("%s 检查:", name.c_str());
#ifdef _WIN32 DEBUG_EXTRA(" - 尺寸: %dx%d", texture.rows, texture.cols);
_mkdir(outputDir.c_str()); DEBUG_EXTRA(" - 通道数: %d", texture.channels());
#else DEBUG_EXTRA(" - 类型: %d (CV_8UC3=%d)", texture.type(), CV_8UC3);
mkdir(outputDir.c_str(), 0755); DEBUG_EXTRA(" - 数据类型: %s",
#endif texture.depth() == CV_8U ? "CV_8U" :
texture.depth() == CV_16U ? "CV_16U" :
texture.depth() == CV_32F ? "CV_32F" : "其他");
// 检查前5x5区域的像素值
int checkSize = std::min(5, std::min(texture.rows, texture.cols));
DEBUG_EXTRA(" - 前%d个像素值:", checkSize * checkSize);
for (int y = 0; y < checkSize; ++y) {
std::string rowStr = " ";
for (int x = 0; x < checkSize; ++x) {
if (texture.channels() == 3) {
cv::Vec3b pixel = texture.at<cv::Vec3b>(y, x);
rowStr += cv::format("(%3d,%3d,%3d) ", pixel[0], pixel[1], pixel[2]);
} else if (texture.channels() == 1) {
uint8_t pixel = texture.at<uint8_t>(y, x);
rowStr += cv::format("%3d ", pixel);
}
}
DEBUG_EXTRA("%s", rowStr.c_str());
}
// 计算统计信息
double minVal, maxVal;
cv::minMaxLoc(texture, &minVal, &maxVal);
DEBUG_EXTRA(" - 像素值范围: %.0f ~ %.0f", minVal, maxVal);
cv::Scalar mean, stddev;
cv::meanStdDev(texture, mean, stddev);
DEBUG_EXTRA(" - 平均值: (%.1f,%.1f,%.1f,%.1f)", mean[0], mean[1], mean[2], mean[3]);
DEBUG_EXTRA(" - 标准差: (%.1f,%.1f,%.1f,%.1f)", stddev[0], stddev[1], stddev[2], stddev[3]);
// 保存所有纹理 // 保存用于验证
for (size_t i = 0; i < generatedTextures.size(); ++i) { std::string filename = "debug_" + name + ".png";
if (generatedTextures[i].empty()) { if (cv::imwrite(filename, texture)) {
DEBUG_EXTRA("警告: 纹理 %zu 为空，跳过保存", i); DEBUG_EXTRA(" - 已保存到: %s", filename.c_str());
} else {
DEBUG_EXTRA(" - 保存失败!");
}
}
// 保存生成的纹理图集
bool SaveGeneratedTextures(const Mesh::Image8U3Arr& textures, const std::string& outputDir)
{
DEBUG_EXTRA("===== SaveGeneratedTextures 开始 =====");
DEBUG_EXTRA("输出目录: %s", outputDir.c_str());
DEBUG_EXTRA("纹理数量: %zu", textures.size());
for (size_t i = 0; i < textures.size(); ++i) {
const cv::Mat& texture = textures[i];
if (texture.empty()) {
DEBUG_EXTRA("纹理 %zu 为空，跳过保存", i);
continue; continue;
} }
// 生成文件名
std::string filename = outputDir + "/texture_" + std::to_string(i) + ".png"; std::string filename = outputDir + "/texture_" + std::to_string(i) + ".png";
DEBUG_EXTRA("保存纹理 %zu: 尺寸=%dx%d, 通道数=%d, 保存到: %s",
i, texture.rows, texture.cols, texture.channels(), filename.c_str());
// 检查纹理内容
DebugCheckTexture(texture, "before_save_" + std::to_string(i));
// 保存纹理
bool success = cv::imwrite(filename, texture);
if (success) {
DEBUG_EXTRA("纹理 %zu 保存成功", i);
// 使用OpenCV保存图像 // 验证保存的文件
if (cv::imwrite(filename, generatedTextures[i])) { cv::Mat loaded = cv::imread(filename);
DEBUG_EXTRA("成功保存纹理: %s (尺寸: %dx%d)", if (!loaded.empty()) {
filename.c_str(), DEBUG_EXTRA("重新加载验证: 尺寸=%dx%d, 通道数=%d",
generatedTextures[i].cols, loaded.rows, loaded.cols, loaded.channels());
generatedTextures[i].rows); } else {
DEBUG_EXTRA("警告: 保存的文件无法重新加载!");
}
} else { } else {
DEBUG_EXTRA("错误: 无法保存纹理到 %s", filename.c_str()); DEBUG_EXTRA("错误: 纹理 %zu 保存失败!", i);
return false;
// 尝试使用不同格式
std::string jpgFilename = outputDir + "/texture_" + std::to_string(i) + ".jpg";
if (cv::imwrite(jpgFilename, texture)) {
DEBUG_EXTRA("使用JPG格式保存成功: %s", jpgFilename.c_str());
success = true;
}
} }
} }
DEBUG_EXTRA("===== SaveGeneratedTextures 结束 =====");
return true; return true;
} }
@ -9996,6 +10065,19 @@ bool MeshTexture::TextureWithExistingUV(const IIndexArr& views, int nIgnoreMaskL
// 4. 生成纹理图集 // 4. 生成纹理图集
Mesh::Image8U3Arr generatedTextures = GenerateTextureAtlasFromUV(faceLabels, views, nTextureSizeMultiple, colEmpty, fSharpnessWeight); Mesh::Image8U3Arr generatedTextures = GenerateTextureAtlasFromUV(faceLabels, views, nTextureSizeMultiple, colEmpty, fSharpnessWeight);
DEBUG_EXTRA("纹理生成完成，返回了 %zu 个纹理", generatedTextures.size());
if (!generatedTextures.empty()) {
for (size_t i = 0; i < generatedTextures.size(); ++i) {
DebugCheckTexture(generatedTextures[i], "generated_texture_" + std::to_string(i));
}
scene.mesh.texturesDiffuse = std::move(generatedTextures);
DEBUG_EXTRA("已将纹理赋值给 scene.mesh.texturesDiffuse");
} else {
DEBUG_EXTRA("警告: 生成的纹理数组为空!");
}
if (!generatedTextures.empty()) { if (!generatedTextures.empty()) {
scene.mesh.texturesDiffuse = std::move(generatedTextures); scene.mesh.texturesDiffuse = std::move(generatedTextures);
@ -10604,10 +10686,12 @@ void FillTextureGaps(Image8U3& textureAtlas, const Mesh::TexCoordArr& faceTexcoo
DEBUG_EXTRA("纹理间隙填充完成"); DEBUG_EXTRA("纹理间隙填充完成");
} }
// 在 GenerateTextureAtlasFromUV 函数中添加
Mesh::Image8U3Arr MeshTexture::GenerateTextureAtlasFromUV(const LabelArr& faceLabels, const IIndexArr& views, Mesh::Image8U3Arr MeshTexture::GenerateTextureAtlasFromUV(const LabelArr& faceLabels, const IIndexArr& views,
unsigned nTextureSizeMultiple, Pixel8U colEmpty, float fSharpnessWeight) unsigned nTextureSizeMultiple, Pixel8U colEmpty, float fSharpnessWeight)
{ {
DEBUG_EXTRA("GenerateTextureAtlasFromUV"); DEBUG_EXTRA("===== GenerateTextureAtlasFromUV 被调用 =====");
DEBUG_EXTRA("输入参数: nTextureSizeMultiple=%u", nTextureSizeMultiple);
// 1. 分析整个模型的UV布局 // 1. 分析整个模型的UV布局
AABB2f uvBounds(true); AABB2f uvBounds(true);
@ -10616,158 +10700,196 @@ Mesh::Image8U3Arr MeshTexture::GenerateTextureAtlasFromUV(const LabelArr& faceLa
uvBounds.InsertFull(uv); uvBounds.InsertFull(uv);
} }
DEBUG_EXTRA("UV范围: 最小=(%.3f,%.3f), 最大=(%.3f,%.3f)",
uvBounds.ptMin.x(), uvBounds.ptMin.y(),
uvBounds.ptMax.x(), uvBounds.ptMax.y());
// 2. 根据UV范围确定纹理图集尺寸 // 2. 根据UV范围确定纹理图集尺寸
const int textureSize = ComputeOptimalTextureSize(uvBounds.ptMin, uvBounds.ptMax, nTextureSizeMultiple); const int textureSize = ComputeOptimalTextureSize(uvBounds.ptMin, uvBounds.ptMax, nTextureSizeMultiple);
DEBUG_EXTRA("计算得到的纹理尺寸: %d", textureSize);
// 3. 创建单个纹理图集 // 3. 检查是否有已生成的纹理可以使用
Mesh::Image8U3Arr textures;
Image8U3& textureAtlas = textures.emplace_back(textureSize, textureSize);
textureAtlas.setTo(cv::Scalar(colEmpty.b, colEmpty.g, colEmpty.r));
DEBUG_EXTRA("生成纹理图集: 尺寸=%dx%d, UV范围=[%.3f,%.3f]-[%.3f,%.3f]",
textureSize, textureSize,
uvBounds.ptMin.x(), uvBounds.ptMin.y(), uvBounds.ptMax.x(), uvBounds.ptMax.y());
// 4. 检查是否有已生成的纹理可以使用
bool useExistingTextures = !scene.mesh.texturesDiffuse.empty() && bool useExistingTextures = !scene.mesh.texturesDiffuse.empty() &&
!scene.mesh.faceTexindices.empty() && !scene.mesh.faceTexindices.empty();
scene.mesh.texturesDiffuse.size() == 1; // 假设只有一个纹理图集
DEBUG_EXTRA("纹理检查: 已有纹理数量=%zu, 使用现有纹理=%s",
scene.mesh.texturesDiffuse.size(),
useExistingTextures ? "是" : "否");
if (useExistingTextures) { if (useExistingTextures) {
DEBUG_EXTRA("从已有纹理采样生成新的纹理布局"); DEBUG_EXTRA("调用 GenerateTextureAtlasFromExistingTextures");
return GenerateTextureAtlasFromExistingTextures(faceLabels, views, textureSize, colEmpty, fSharpnessWeight); auto result = GenerateTextureAtlasFromExistingTextures(faceLabels, views, textureSize, colEmpty, fSharpnessWeight);
DEBUG_EXTRA("GenerateTextureAtlasFromExistingTextures 返回 %zu 个纹理", result.size());
return result;
} else {
DEBUG_EXTRA("调用 GenerateTextureAtlasFromImages");
auto result = GenerateTextureAtlasFromImages(faceLabels, views, textureSize, colEmpty, fSharpnessWeight);
DEBUG_EXTRA("GenerateTextureAtlasFromImages 返回 %zu 个纹理", result.size());
return result;
} }
// 5. 否则，从原始图像重新生成纹理
DEBUG_EXTRA("从原始图像重新生成纹理图集");
return GenerateTextureAtlasFromImages(faceLabels, views, textureSize, colEmpty, fSharpnessWeight);
} }
Mesh::Image8U3Arr MeshTexture::GenerateTextureAtlasFromExistingTextures(const LabelArr& faceLabels, const IIndexArr& views, Mesh::Image8U3Arr MeshTexture::GenerateTextureAtlasFromExistingTextures(const LabelArr& faceLabels, const IIndexArr& views,
int textureSize, Pixel8U colEmpty, float fSharpnessWeight) int textureSize, Pixel8U colEmpty, float fSharpnessWeight)
{ {
Mesh::Image8U3Arr textures; DEBUG_EXTRA("===== GenerateTextureAtlasFromExistingTextures 开始 =====");
Image8U3& textureAtlas = textures.emplace_back(textureSize, textureSize); DEBUG_EXTRA("输入参数: textureSize=%d", textureSize);
textureAtlas.setTo(cv::Scalar(colEmpty.b, colEmpty.g, colEmpty.r));
// 获取已有的纹理 // 验证纹理尺寸
const Image8U3& existingTexture = scene.mesh.texturesDiffuse[0]; if (textureSize <= 0) {
DEBUG_EXTRA("纹理尺寸无效，使用默认值1024");
// 为每个面片从已有纹理采样 textureSize = 1024;
#ifdef _USE_OPENMP }
#pragma omp parallel for schedule(dynamic)
for (int_t idxFace = 0; idxFace < (int_t)scene.mesh.faces.size(); ++idxFace) {
#else
FOREACH(idxFace, scene.mesh.faces) {
#endif
const FIndex faceID = (FIndex)idxFace;
const Label label = faceLabels[faceID];
if (label == 0) continue; // 跳过无视图的面片
// 获取面的UV坐标 // 创建纹理数组
const TexCoord* uvCoords = &scene.mesh.faceTexcoords[faceID * 3]; Mesh::Image8U3Arr textures;
// 计算面片在纹理图集中的边界框 // 创建纹理图集
AABB2f faceUVBounds(true); try {
for (int i = 0; i < 3; ++i) { Mesh::Image8U3Arr textures;
faceUVBounds.InsertFull(uvCoords[i]); cv::Mat textureMat(textureSize, textureSize, CV_8UC3);
} Image8U3& textureAtlas = textures.emplace_back(std::move(textureMat));
// 将UV坐标转换到纹理像素坐标 DEBUG_EXTRA("纹理对象创建: 地址=%p, 尺寸=%dx%d, 通道数=%d, 类型=%d",
const int startX = std::max(0, (int)(faceUVBounds.ptMin.x() * textureSize)); &textureAtlas, textureAtlas.rows, textureAtlas.cols,
const int startY = std::max(0, (int)(faceUVBounds.ptMin.y() * textureSize)); textureAtlas.channels(), textureAtlas.type());
const int endX = std::min(textureSize - 1, (int)(faceUVBounds.ptMax.x() * textureSize));
const int endY = std::min(textureSize - 1, (int)(faceUVBounds.ptMax.y() * textureSize));
// 对面片覆盖的每个纹理像素进行采样 if (textureAtlas.empty()) {
for (int y = startY; y <= endY; ++y) { DEBUG_EXTRA("错误: 纹理对象为空!");
for (int x = startX; x <= endX; ++x) { return textures;
const Point2f texCoord((float)x / textureSize, (float)y / textureSize); }
// 1. 检查是否在三角形内 // 使用不同颜色填充纹理以便调试
Point3f barycentric; DEBUG_EXTRA("开始填充测试纹理...");
if (PointInTriangle(texCoord, uvCoords[0], uvCoords[1], uvCoords[2], barycentric)) {
// 从已有纹理中采样颜色 // 方法1: 使用纯色填充整个纹理
Pixel8U sampledColor = SampleFromExistingTextureAtBarycentric(faceID, barycentric, existingTexture); textureAtlas.setTo(cv::Scalar(255, 0, 0)); // 蓝色 (OpenCV是BGR顺序)
DEBUG_EXTRA("纹理已填充为蓝色");
// 方法2: 绘制一个绿色的矩形
int rectSize = textureSize / 2;
cv::Rect centerRect(textureSize/4, textureSize/4, rectSize, rectSize);
cv::rectangle(textureAtlas, centerRect, cv::Scalar(0, 255, 0), -1); // 绿色
DEBUG_EXTRA("在中心绘制了绿色矩形: x=%d, y=%d, width=%d, height=%d",
centerRect.x, centerRect.y, centerRect.width, centerRect.height);
// 方法3: 绘制一个红色的圆形
cv::Point center(textureSize/2, textureSize/2);
int radius = textureSize / 8;
cv::circle(textureAtlas, center, radius, cv::Scalar(0, 0, 255), -1); // 红色
DEBUG_EXTRA("在中心绘制了红色圆形: 中心=(%d,%d), 半径=%d",
center.x, center.y, radius);
// 方法4: 绘制一些文字
std::string text = "Test Texture";
int fontFace = cv::FONT_HERSHEY_SIMPLEX;
double fontScale = 2.0;
int thickness = 3;
cv::Size textSize = cv::getTextSize(text, fontFace, fontScale, thickness, nullptr);
cv::Point textOrg((textureSize - textSize.width) / 2, textureSize / 2 + textSize.height);
cv::putText(textureAtlas, text, textOrg, fontFace, fontScale, cv::Scalar(255, 255, 255), thickness);
DEBUG_EXTRA("添加了文字: '%s' 位置=(%d,%d)", text.c_str(), textOrg.x, textOrg.y);
// 方法5: 绘制一个棋盘图案以便确认像素值
int squareSize = textureSize / 8;
for (int y = 0; y < textureSize; y += squareSize) {
for (int x = 0; x < textureSize; x += squareSize) {
if ((x / squareSize + y / squareSize) % 2 == 0) {
cv::Rect square(x, y, squareSize, squareSize);
cv::rectangle(textureAtlas, square, cv::Scalar(200, 200, 200), -1);
}
}
}
// 将采样颜色写入纹理图集 // 检查纹理的实际像素值
#ifdef _USE_OPENMP int nonBluePixels = 0;
#pragma omp critical for (int y = 0; y < textureAtlas.rows; ++y) {
#endif for (int x = 0; x < textureAtlas.cols; ++x) {
{ const cv::Vec3b& pixel = textureAtlas.at<cv::Vec3b>(y, x);
textureAtlas(y, x) = sampledColor; if (!(pixel[0] == 255 && pixel[1] == 0 && pixel[2] == 0)) { // 如果不是纯蓝色
} nonBluePixels++;
} }
// 2. 如果不在三角形内，检查是否在三角形边缘附近 }
else { }
// 计算到三角形边缘的最近距离
float minDist = std::numeric_limits<float>::max();
Point2f closestPoint;
// 检查三条边
for (int i = 0; i < 3; ++i) {
const Point2f& p1 = uvCoords[i];
const Point2f& p2 = uvCoords[(i + 1) % 3];
Point2f proj = ProjectPointToLineSegment(texCoord, p1, p2);
float dist = cv::norm(texCoord - proj);
if (dist < minDist) {
minDist = dist;
closestPoint = proj;
}
}
// 如果距离小于阈值，进行边缘填充 DEBUG_EXTRA("纹理像素统计: 总像素=%d, 非蓝色像素=%d, 填充率=%.2f%%",
const float edgeThreshold = 1.0f / textureSize; // 1个像素的阈值 textureAtlas.rows * textureAtlas.cols,
if (minDist <= edgeThreshold * 2) { // 填充边缘周围2个像素 nonBluePixels,
// 在最近点计算重心坐标 (nonBluePixels * 100.0) / (textureAtlas.rows * textureAtlas.cols));
Point3f edgeBarycentric = BarycentricFromPoint(closestPoint, uvCoords[0], uvCoords[1], uvCoords[2]);
if (edgeBarycentric.x >= 0 && edgeBarycentric.x <= 1 && // 保存纹理到文件
edgeBarycentric.y >= 0 && edgeBarycentric.y <= 1 && std::string debugFilename = "debug_test_texture_" + std::to_string(textureSize) + ".png";
edgeBarycentric.z >= 0 && edgeBarycentric.z <= 1) { bool saveResult = cv::imwrite(debugFilename, textureAtlas);
// 从已有纹理中采样颜色 if (saveResult) {
Pixel8U sampledColor = SampleFromExistingTextureAtBarycentric(faceID, edgeBarycentric, existingTexture); DEBUG_EXTRA("测试纹理已保存到: %s", debugFilename.c_str());
#ifdef _USE_OPENMP // 验证保存的纹理
#pragma omp critical cv::Mat loaded = cv::imread(debugFilename);
#endif if (!loaded.empty()) {
{ DEBUG_EXTRA("重新加载纹理成功: 尺寸=%dx%d, 通道数=%d",
textureAtlas(y, x) = sampledColor; loaded.rows, loaded.cols, loaded.channels());
} } else {
} DEBUG_EXTRA("警告: 保存的纹理无法重新加载!");
} }
} } else {
DEBUG_EXTRA("错误: 无法保存测试纹理到文件!");
// 尝试不同的保存路径
debugFilename = "/tmp/debug_test_texture.png";
saveResult = cv::imwrite(debugFilename, textureAtlas);
if (saveResult) {
DEBUG_EXTRA("测试纹理已保存到: %s", debugFilename.c_str());
} }
} }
}
// 添加后处理填充函数 // 返回纹理
FillTextureGaps(textureAtlas, scene.mesh.faceTexcoords, (FIndex)scene.mesh.faces.size(), faceLabels, textureSize, colEmpty); DEBUG_EXTRA("纹理生成完成，返回 %zu 个纹理", textures.size());
return textures;
// 应用后处理 } catch (const cv::Exception& e) {
if (fSharpnessWeight > 0) { DEBUG_EXTRA("OpenCV异常: %s", e.what());
// ApplySharpening(textureAtlas, fSharpnessWeight); return textures;
} catch (const std::exception& e) {
DEBUG_EXTRA("标准异常: %s", e.what());
return textures;
} }
DEBUG_EXTRA("从已有纹理生成纹理图集完成: 尺寸%dx%d, %u个面片",
textureSize, textureSize, scene.mesh.faces.size());
return textures;
} }
Mesh::Image8U3Arr MeshTexture::GenerateTextureAtlasFromImages(const LabelArr& faceLabels, const IIndexArr& views, Mesh::Image8U3Arr MeshTexture::GenerateTextureAtlasFromImages(const LabelArr& faceLabels, const IIndexArr& views,
int textureSize, Pixel8U colEmpty, float fSharpnessWeight) int textureSize, Pixel8U colEmpty, float fSharpnessWeight)
{ {
Mesh::Image8U3Arr textures; Mesh::Image8U3Arr textures;
Image8U3& textureAtlas = textures.emplace_back(textureSize, textureSize); textures.push_back(Image8U3());
Image8U3& textureAtlas = textures.back();
textureAtlas.create(textureSize, textureSize);
textureAtlas.setTo(cv::Scalar(colEmpty.b, colEmpty.g, colEmpty.r)); textureAtlas.setTo(cv::Scalar(colEmpty.b, colEmpty.g, colEmpty.r));
// 计算整个模型的UV范围
AABB2f globalUVBounds(true);
FOREACH(i, scene.mesh.faceTexcoords) {
const TexCoord& uv = scene.mesh.faceTexcoords[i];
globalUVBounds.InsertFull(uv);
}
float uvWidth = globalUVBounds.ptMax.x() - globalUVBounds.ptMin.x();
float uvHeight = globalUVBounds.ptMax.y() - globalUVBounds.ptMin.y();
DEBUG_EXTRA("全局UV范围: 最小=(%.3f,%.3f), 最大=(%.3f,%.3f), 宽度=%.3f, 高度=%.3f",
globalUVBounds.ptMin.x(), globalUVBounds.ptMin.y(),
globalUVBounds.ptMax.x(), globalUVBounds.ptMax.y(),
uvWidth, uvHeight);
bool normalizeUV = (uvWidth > 100.0f || uvHeight > 100.0f);
DEBUG_EXTRA("是否需要归一化UV坐标: %s", normalizeUV ? "是" : "否");
// 为每个面片从原始图像采样颜色 // 为每个面片从原始图像采样颜色
int processedFaces = 0;
int sampledPixels = 0;
#ifdef _USE_OPENMP #ifdef _USE_OPENMP
#pragma omp parallel for schedule(dynamic) #pragma omp parallel for schedule(dynamic) reduction(+:processedFaces,sampledPixels)
for (int_t idxFace = 0; idxFace < (int_t)scene.mesh.faces.size(); ++idxFace) { for (int_t idxFace = 0; idxFace < (int_t)scene.mesh.faces.size(); ++idxFace) {
#else #else
FOREACH(idxFace, scene.mesh.faces) { FOREACH(idxFace, scene.mesh.faces) {
@ -10779,15 +10901,34 @@ Mesh::Image8U3Arr MeshTexture::GenerateTextureAtlasFromImages(const LabelArr& fa
const IIndex idxView = label - 1; const IIndex idxView = label - 1;
if (idxView >= images.size()) continue; if (idxView >= images.size()) continue;
// 获取面的UV坐标和几何信息 // 获取面的UV坐标
if (faceID * 3 + 2 >= scene.mesh.faceTexcoords.size()) continue;
const TexCoord* uvCoords = &scene.mesh.faceTexcoords[faceID * 3]; const TexCoord* uvCoords = &scene.mesh.faceTexcoords[faceID * 3];
const Face& face = scene.mesh.faces[faceID]; const Face& face = scene.mesh.faces[faceID];
const Image& sourceImage = images[idxView]; const Image& sourceImage = images[idxView];
// 计算面片在纹理图集中的边界框 // 将UV坐标归一化到[0,1]范围
TexCoord normalizedUVs[3];
for (int i = 0; i < 3; ++i) {
if (normalizeUV) {
// 归一化到[0,1]范围
normalizedUVs[i].x = (uvCoords[i].x - globalUVBounds.ptMin.x()) / uvWidth;
normalizedUVs[i].y = (uvCoords[i].y - globalUVBounds.ptMin.y()) / uvHeight;
} else {
// 如果UV已经是[0,1]范围内，直接使用
normalizedUVs[i] = uvCoords[i];
}
// 确保在[0,1]范围内
normalizedUVs[i].x = std::max(0.0f, std::min(1.0f, normalizedUVs[i].x));
normalizedUVs[i].y = std::max(0.0f, std::min(1.0f, normalizedUVs[i].y));
}
// 计算归一化后的UV边界框
AABB2f faceUVBounds(true); AABB2f faceUVBounds(true);
for (int i = 0; i < 3; ++i) { for (int i = 0; i < 3; ++i) {
faceUVBounds.InsertFull(uvCoords[i]); faceUVBounds.InsertFull(normalizedUVs[i]);
} }
// 将UV坐标转换到纹理像素坐标 // 将UV坐标转换到纹理像素坐标
@ -10796,14 +10937,19 @@ Mesh::Image8U3Arr MeshTexture::GenerateTextureAtlasFromImages(const LabelArr& fa
const int endX = std::min(textureSize - 1, (int)(faceUVBounds.ptMax.x() * textureSize)); const int endX = std::min(textureSize - 1, (int)(faceUVBounds.ptMax.x() * textureSize));
const int endY = std::min(textureSize - 1, (int)(faceUVBounds.ptMax.y() * textureSize)); const int endY = std::min(textureSize - 1, (int)(faceUVBounds.ptMax.y() * textureSize));
// 对面片覆盖的每个纹理像素进行采样 // 检查边界框是否有效
if (startX >= endX || startY >= endY) {
continue;
}
// 对每个像素进行采样
for (int y = startY; y <= endY; ++y) { for (int y = startY; y <= endY; ++y) {
for (int x = startX; x <= endX; ++x) { for (int x = startX; x <= endX; ++x) {
const Point2f texCoord((float)x / textureSize, (float)y / textureSize); const Point2f texCoord((float)x / textureSize, (float)y / textureSize);
// 1. 检查是否在三角形内 // 检查是否在三角形内
Point3f barycentric; Point3f barycentric;
if (PointInTriangle(texCoord, uvCoords[0], uvCoords[1], uvCoords[2], barycentric)) { if (PointInTriangle(texCoord, normalizedUVs[0], normalizedUVs[1], normalizedUVs[2], barycentric)) {
// 计算3D空间中的对应点 // 计算3D空间中的对应点
const Vertex worldPoint = const Vertex worldPoint =
vertices[face[0]] * barycentric.x + vertices[face[0]] * barycentric.x +
@ -10813,103 +10959,114 @@ Mesh::Image8U3Arr MeshTexture::GenerateTextureAtlasFromImages(const LabelArr& fa
// 将3D点投影到源图像 // 将3D点投影到源图像
Point2f imgPoint = ProjectPointWithAutoCorrection(sourceImage.camera, worldPoint, sourceImage); Point2f imgPoint = ProjectPointWithAutoCorrection(sourceImage.camera, worldPoint, sourceImage);
// 验证投影的有效性 // 验证投影有效性
if (!ValidateProjection(worldPoint, sourceImage, imgPoint)) { if (sourceImage.image.isInside(imgPoint) &&
continue; // 跳过几何不一致的采样点 sourceImage.camera.IsInFront(worldPoint)) {
}
// 检查投影是否在图像边界内 // 从源图像采样颜色
if (imgPoint.x < -100 || imgPoint.x > sourceImage.image.cols + 100 || Pixel8U sampledColor = SampleImageBilinear(sourceImage.image, imgPoint);
imgPoint.y < -100 || imgPoint.y > sourceImage.image.rows + 100) {
continue;
}
// 检查投影有效性 // 写入纹理图集
if (!sourceImage.image.isInside(imgPoint) || #ifdef _USE_OPENMP
!sourceImage.camera.IsInFront(worldPoint)) { #pragma omp critical
continue; #endif
{
textureAtlas(y, x) = sampledColor;
sampledPixels++;
}
} }
}
}
}
// 从源图像采样颜色（使用双线性插值） processedFaces++;
Pixel8U sampledColor = SampleImageBilinear(sourceImage.image, imgPoint); }
// 将采样颜色写入纹理图集 DEBUG_EXTRA("纹理生成统计: 处理了%d个面片, 采样了%d个像素", processedFaces, sampledPixels);
#ifdef _USE_OPENMP
#pragma omp critical
#endif
{
textureAtlas(y, x) = sampledColor;
}
}
// 2. 如果不在三角形内，检查是否在三角形边缘附近
else {
// 计算到三角形边缘的最近距离
float minDist = std::numeric_limits<float>::max();
Point2f closestPoint;
// 检查三条边
for (int i = 0; i < 3; ++i) {
const Point2f& p1 = uvCoords[i];
const Point2f& p2 = uvCoords[(i + 1) % 3];
Point2f proj = ProjectPointToLineSegment(texCoord, p1, p2);
float dist = cv::norm(texCoord - proj);
if (dist < minDist) {
minDist = dist;
closestPoint = proj;
}
}
// 如果距离小于阈值，进行边缘填充 // 检查生成的纹理
const float edgeThreshold = 1.0f / textureSize; // 1个像素的阈值 int coloredPixels = 0;
if (minDist <= edgeThreshold * 2) { // 填充边缘周围2个像素 for (int y = 0; y < textureAtlas.rows; ++y) {
// 在最近点计算重心坐标 for (int x = 0; x < textureAtlas.cols; ++x) {
Point3f edgeBarycentric = BarycentricFromPoint(closestPoint, uvCoords[0], uvCoords[1], uvCoords[2]); const Pixel8U& pixel = textureAtlas(y, x);
if (!(pixel[0] == colEmpty.b && pixel[1] == colEmpty.g && pixel[2] == colEmpty.r)) {
coloredPixels++;
}
}
}
if (edgeBarycentric.x >= 0 && edgeBarycentric.x <= 1 && DEBUG_EXTRA("纹理填充率: %d/%d (%.2f%%)",
edgeBarycentric.y >= 0 && edgeBarycentric.y <= 1 && coloredPixels, textureAtlas.rows * textureAtlas.cols,
edgeBarycentric.z >= 0 && edgeBarycentric.z <= 1) { (coloredPixels * 100.0) / (textureAtlas.rows * textureAtlas.cols));
const Vertex worldPoint = ValidateGeneratedTexture(textureAtlas, "生成的纹理");
vertices[face[0]] * edgeBarycentric.x +
vertices[face[1]] * edgeBarycentric.y +
vertices[face[2]] * edgeBarycentric.z;
Point2f imgPoint = ProjectPointWithAutoCorrection(sourceImage.camera, worldPoint, sourceImage); return textures;
}
if (ValidateProjection(worldPoint, sourceImage, imgPoint) && void MeshTexture::ValidateGeneratedTexture(const Image8U3& texture, const std::string& name)
sourceImage.image.isInside(imgPoint) && {
sourceImage.camera.IsInFront(worldPoint)) { DEBUG_EXTRA("验证纹理: %s", name.c_str());
Pixel8U sampledColor = SampleImageBilinear(sourceImage.image, imgPoint); if (texture.empty()) {
DEBUG_EXTRA("纹理为空!");
return;
}
#ifdef _USE_OPENMP int totalPixels = texture.rows * texture.cols;
#pragma omp critical int coloredPixels = 0;
#endif int emptyPixels = 0;
{ Pixel8U firstColor = texture(0, 0);
textureAtlas(y, x) = sampledColor; bool allSameColor = true;
}
} // 检查前1000个像素
} int checkCount = std::min(1000, totalPixels);
} for (int i = 0; i < checkCount; ++i) {
} int y = i / texture.cols;
} int x = i % texture.cols;
const Pixel8U& pixel = texture(y, x);
if (pixel[0] == 39 && pixel[1] == 127 && pixel[2] == 255) {
emptyPixels++;
} else {
coloredPixels++;
}
if (pixel[0] != firstColor[0] || pixel[1] != firstColor[1] || pixel[2] != firstColor[2]) {
allSameColor = false;
} }
} }
// 添加后处理填充函数 DEBUG_EXTRA("纹理检查结果:");
FillTextureGaps(textureAtlas, scene.mesh.faceTexcoords, (FIndex)scene.mesh.faces.size(), faceLabels, textureSize, colEmpty); DEBUG_EXTRA(" - 总像素: %d", totalPixels);
DEBUG_EXTRA(" - 检查了前 %d 个像素", checkCount);
DEBUG_EXTRA(" - 有颜色像素: %d", coloredPixels);
DEBUG_EXTRA(" - 空白像素: %d", emptyPixels);
DEBUG_EXTRA(" - 所有像素颜色相同: %s", allSameColor ? "是" : "否");
// 应用后处理 if (allSameColor) {
if (fSharpnessWeight > 0) { DEBUG_EXTRA(" - 统一颜色: RGB(%d, %d, %d)",
// ApplySharpening(textureAtlas, fSharpnessWeight); firstColor[2], firstColor[1], firstColor[0]); // OpenCV是BGR顺序
} }
DEBUG_EXTRA("从原始图像生成纹理图集完成: 尺寸%dx%d, %u个面片", // 检查纹理中心区域
textureSize, textureSize, scene.mesh.faces.size()); int centerX = texture.cols / 2;
int centerY = texture.rows / 2;
int radius = 10;
return textures; DEBUG_EXTRA("中心区域(%d±%d, %d±%d)像素:", centerX, radius, centerY, radius);
for (int y = centerY - radius; y <= centerY + radius; ++y) {
if (y < 0 || y >= texture.rows) continue;
std::string rowStr = " ";
for (int x = centerX - radius; x <= centerX + radius; ++x) {
if (x < 0 || x >= texture.cols) continue;
const Pixel8U& pixel = texture(y, x);
rowStr += cv::format("(%3d,%3d,%3d) ", pixel[0], pixel[1], pixel[2]);
}
DEBUG_EXTRA("%s", rowStr.c_str());
}
} }
Pixel8U MeshTexture::SampleFromExistingTextureAtBarycentric(FIndex faceID, const Point3f& barycentric, const Image8U3& existingTexture) Pixel8U MeshTexture::SampleFromExistingTextureAtBarycentric(FIndex faceID, const Point3f& barycentric, const Image8U3& existingTexture)
@ -11317,70 +11474,41 @@ bool MeshTexture::PointInTriangle(const Point2f& p, const Point2f& a, const Poin
return false; return false;
} }
int MeshTexture::ComputeOptimalTextureSize(const Point2f& uvMin, const Point2f& uvMax, unsigned nTextureSizeMultiple) { int MeshTexture::ComputeOptimalTextureSize(const Point2f& uvMin, const Point2f& uvMax, unsigned nTextureSizeMultiple)
{
// 1. 计算UV坐标的实际覆盖范围 DEBUG_EXTRA("原始UV范围: 最小=(%.3f,%.3f), 最大=(%.3f,%.3f)",
const float uvRangeX = uvMax.x - uvMin.x; uvMin.x, uvMin.y, uvMax.x, uvMax.y);
const float uvRangeY = uvMax.y - uvMin.y;
// 检查UV范围是否过大，需要归一化
float uvWidth = uvMax.x - uvMin.x;
// 如果UV范围无效，返回默认尺寸 float uvHeight = uvMax.y - uvMin.y;
if (uvRangeX <= 0.0f || uvRangeY <= 0.0f) {
return 1024; // 默认回退尺寸 // 如果UV范围非常大，可能是非归一化坐标
} if (uvWidth > 100.0f || uvHeight > 100.0f) {
DEBUG_EXTRA("警告: UV坐标范围过大，可能需要进行归一化");
// 2. 基于UV覆盖范围计算基础纹理尺寸 DEBUG_EXTRA("UV宽度=%.3f, 高度=%.3f，使用固定尺寸4096", uvWidth, uvHeight);
// 假设我们希望纹理密度为：每单位UV空间对应N个像素 return 4096; // 返回固定尺寸
const float pixelsPerUV = 256.0f; // 可配置的密度系数
int baseSizeX = static_cast<int>(uvRangeX * pixelsPerUV);
int baseSizeY = static_cast<int>(uvRangeY * pixelsPerUV);
// 取较大者作为基础尺寸，以确保覆盖整个UV范围
int baseSize = std::max(baseSizeX, baseSizeY);
DEBUG_EXTRA("%d, %d", nTextureSizeMultiple, baseSize);
// 3. 应用纹理尺寸倍数约束
baseSize = (baseSize + nTextureSizeMultiple - 1) / nTextureSizeMultiple * nTextureSizeMultiple;
// 4. 设备能力限制
int maxTextureSize = 4096; // 默认最大值
int minTextureSize = 64; // 默认最小值
// 此处可查询设备实际支持的最大纹理尺寸
// glGetIntegerv(GL_MAX_TEXTURE_SIZE, &maxTextureSize);
// 5. 质量等级调整（可根据OPT中的质量设置进行调整）
int qualityLevel = 1; // 默认中等质量
switch (qualityLevel) {
case 0: // 低质量：缩小纹理尺寸
baseSize = baseSize / 2;
break;
case 1: // 中等质量：保持原计算尺寸
// baseSize 保持不变
break;
case 2: // 高质量：适度增大尺寸（如有足够内存）
baseSize = std::min(baseSize * 2, maxTextureSize);
break;
} }
DEBUG_EXTRA("(UV范围: [%.3f, %.3f]), %d, %d, %d", uvRangeX, uvRangeY, nTextureSizeMultiple, baseSize, minTextureSize); // 如果是归一化的UV坐标(在[0,1]范围内)
// 6. 最终钳制到有效范围 if (uvMin.x >= 0.0f && uvMin.y >= 0.0f &&
baseSize = (std::max)(minTextureSize, (std::min)(baseSize, maxTextureSize)); uvMax.x <= 1.0f && uvMax.y <= 1.0f) {
// 归一化坐标，使用最大范围
// 7. 确保尺寸为2的幂次（兼容性考虑，可选） float maxRange = std::max(uvWidth, uvHeight);
int finalSize = 1; int baseSize = (int)(maxRange * 4096.0f);
while (finalSize < baseSize) { int textureSize = ((baseSize + nTextureSizeMultiple - 1) / nTextureSizeMultiple) * nTextureSizeMultiple;
finalSize <<= 1; textureSize = std::max(512, std::min(8192, textureSize));
if (finalSize >= maxTextureSize) { DEBUG_EXTRA("归一化UV，计算尺寸: %.3f*4096=%d -> %d", maxRange, baseSize, textureSize);
finalSize = maxTextureSize; return textureSize;
break;
}
} }
DEBUG_EXTRA("计算出的最优纹理尺寸: %d (UV范围: [%.3f, %.3f])", // 如果UV范围很小但不是归一化的
finalSize, uvRangeX, uvRangeY); int baseSize = (int)std::max(uvWidth, uvHeight) * 1024;
int textureSize = ((baseSize + nTextureSizeMultiple - 1) / nTextureSizeMultiple) * nTextureSizeMultiple;
textureSize = std::max(512, std::min(8192, textureSize));
return finalSize; DEBUG_EXTRA("计算纹理尺寸: baseSize=%d, 最终尺寸=%d", baseSize, textureSize);
return textureSize;
} }
// 保存遮挡数据到文件 // 保存遮挡数据到文件

Write Preview
Loading…
Cancel
Save