算法优化
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hesuicong committed
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@@ -461,6 +461,7 @@ public:
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bool CreateVirtualFaces6(FaceDataViewArr& facesDatas, FaceDataViewArr& ComputeAverageQuality, VirtualFaceIdxsArr& virtualFaces, std::vector<bool>& isVirtualFace, unsigned minCommonCameras=2, float thMaxNormalDeviation=25.f) const;
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bool CreateVirtualFaces61(FaceDataViewArr& facesDatas, FaceDataViewArr& virtualFacesDatas, VirtualFaceIdxsArr& virtualFaces, std::vector<bool>& isVirtualFace, unsigned minCommonCameras=2, float thMaxNormalDeviation=25.f);
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bool CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataViewArr& ComputeAverageQuality, VirtualFaceIdxsArr& virtualFaces, std::vector<bool>& isVirtualFace, unsigned minCommonCameras=2, float thMaxNormalDeviation=25.f) const;
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bool CreateVirtualFaces63(FaceDataViewArr& facesDatas, FaceDataViewArr& virtualFacesDatas, VirtualFaceIdxsArr& virtualFaces, std::vector<bool>& isVirtualFace, unsigned minCommonCameras=2, float thMaxNormalDeviation=25.f) const;
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static std::string GetFileNameWithoutExtension(std::string& strPath);
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float CalculateBrightnessScore(const Image& imageData) const;
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bool IsFaceVisibleRelaxed(const FaceDataArr& faceDatas, const IIndexArr& selectedCams, float visibleRatioThreshold) const;
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@@ -4305,6 +4306,381 @@ std::string MeshTexture::GetFileNameWithoutExtension(std::string& strPath) {
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}
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}
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bool MeshTexture::CreateVirtualFaces63(FaceDataViewArr& facesDatas, FaceDataViewArr& virtualFacesDatas, VirtualFaceIdxsArr& virtualFaces, std::vector<bool>& isVirtualFace, unsigned minCommonCameras, float thMaxNormalDeviation) const
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{
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if (meshCurvatures.empty()) {
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ComputeFaceCurvatures();
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}
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float thMaxColorDeviation = 130.0f;
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const float QUALITY_THRESHOLD = 0.9f; // 质量阈值，可根据实际情况调整
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const float ratioAngleToQuality(0.67f);
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const float cosMaxNormalDeviation(COS(FD2R(thMaxNormalDeviation)));
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Mesh::FaceIdxArr remainingFaces(faces.size());
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std::iota(remainingFaces.begin(), remainingFaces.end(), 0);
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std::vector<bool> selectedFaces(faces.size(), false);
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cQueue<FIndex, FIndex, 0> currentVirtualFaceQueue;
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std::unordered_set<FIndex> queuedFaces;
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// Precompute average color for each face
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Colors faceColors;
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faceColors.reserve(faces.size());
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for (size_t i = 0; i < faces.size(); ++i) {
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faceColors.push_back(Color::ZERO);
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}
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for (FIndex idxFace = 0; idxFace < faces.size(); ++idxFace) {
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const FaceDataArr& faceDatas = facesDatas[idxFace];
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if (faceDatas.empty()) continue;
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Color sumColor = Color::ZERO;
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for (const FaceData& fd : faceDatas) {
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sumColor += fd.color;
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}
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faceColors[idxFace] = sumColor / faceDatas.size();
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}
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do {
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const FIndex startPos = RAND() % remainingFaces.size();
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const FIndex virtualFaceCenterFaceID = remainingFaces[startPos];
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// 动态法线阈值
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const float centerCurvature = meshCurvatures[virtualFaceCenterFaceID];
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const float dynamicThreshold = (centerCurvature < 0.2f) ? 15.0f : 8.0f;
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const float dynamicCosTh = COS(FD2R(dynamicThreshold));
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ASSERT(currentVirtualFaceQueue.IsEmpty());
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const Normal& normalCenter = scene.mesh.faceNormals[virtualFaceCenterFaceID];
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const FaceDataArr& centerFaceDatas = facesDatas[virtualFaceCenterFaceID];
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// 检查中心面片是否包含无效视图
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bool bHasInvalidView = false;
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int nInvalidViewCount = 0;
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int nTotalViewCount = 0;
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for (const FaceData& faceData : centerFaceDatas) {
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if (faceData.bInvalidFacesRelative) {
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bHasInvalidView = true;
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++nInvalidViewCount;
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}
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++nTotalViewCount;
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}
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// 计算中心面片的质量
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float centerFaceQuality = 0.0f;
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int validViewCount = 0;
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for (const FaceData& fd : centerFaceDatas) {
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if (!fd.bInvalidFacesRelative) {
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centerFaceQuality += fd.quality;
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++validViewCount;
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}
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}
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if (validViewCount > 0) {
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centerFaceQuality /= validViewCount;
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}
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std::vector<std::pair<float, Color>> sortedViews;
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std::vector<std::pair<float, Color>> sortedLuminViews;
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std::vector<std::pair<float, Color>> validViews;
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sortedViews.reserve(centerFaceDatas.size());
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for (const FaceData& fd : centerFaceDatas) {
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if (fd.bInvalidFacesRelative) {
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sortedViews.emplace_back(fd.quality, fd.color);
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sortedLuminViews.emplace_back(MeshTexture::GetLuminance(fd.color), fd.color);
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} else {
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sortedViews.emplace_back(fd.quality, fd.color);
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sortedLuminViews.emplace_back(MeshTexture::GetLuminance(fd.color), fd.color);
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validViews.emplace_back(fd.quality, fd.color);
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}
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}
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std::sort(sortedViews.begin(), sortedViews.end(),
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[](const auto& a, const auto& b) { return a.first > b.first; });
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std::sort(validViews.begin(), validViews.end(),
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[](const auto& a, const auto& b) { return a.first > b.first; });
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int nSize = sortedViews.size();
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float totalQuality = 0.0f;
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Color totalColor(0,0,0);
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for (int n = 0; n < nSize; ++n) {
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totalQuality += sortedViews[n].first;
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totalColor += sortedViews[n].second;
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}
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const float avgQuality = totalQuality / nSize;
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const Color avgColor = totalColor / nSize;
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float totalLuminance = MeshTexture::GetLuminance(totalColor);
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float avgLuminance = totalLuminance / nSize;
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std::sort(sortedLuminViews.begin(), sortedLuminViews.end(),
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[avgLuminance](const auto& a, const auto& b) {
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float luminDistA = cv::norm(avgLuminance - a.first);
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float luminDistB = cv::norm(avgLuminance - b.first);
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return luminDistA < luminDistB; });
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// select the common cameras
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Mesh::FaceIdxArr virtualFace;
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FaceDataArr virtualFaceDatas;
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if (centerFaceDatas.empty()) {
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virtualFace.emplace_back(virtualFaceCenterFaceID);
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selectedFaces[virtualFaceCenterFaceID] = true;
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const auto posToErase = remainingFaces.FindFirst(virtualFaceCenterFaceID);
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ASSERT(posToErase != Mesh::FaceIdxArr::NO_INDEX);
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remainingFaces.RemoveAtMove(posToErase);
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} else {
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IIndexArr selectedCams = SelectBestViews(centerFaceDatas, virtualFaceCenterFaceID, minCommonCameras, ratioAngleToQuality);
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const Normal& normalCenter = scene.mesh.faceNormals[virtualFaceCenterFaceID];
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std::vector<std::pair<IIndex, float>> cameraAngles; // 存储相机索引和角度
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for (IIndex idxView : selectedCams) {
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const Image& imageData = images[idxView];
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const RMatrix& R = imageData.camera.R;
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Point3f localForward(0.0f, 0.0f, -1.0f);
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Point3f cameraForward;
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cameraForward.x = R(0,0) * localForward.x + R(0,1) * localForward.y + R(0,2) * localForward.z;
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cameraForward.y = R(1,0) * localForward.x + R(1,1) * localForward.y + R(1,2) * localForward.z;
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cameraForward.z = R(2,0) * localForward.x + R(2,1) * localForward.y + R(2,2) * localForward.z;
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float norm = std::sqrt(cameraForward.x * cameraForward.x +
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cameraForward.y * cameraForward.y +
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cameraForward.z * cameraForward.z);
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if (norm > 0.0f) {
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cameraForward.x /= norm;
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cameraForward.y /= norm;
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cameraForward.z /= norm;
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} else {
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cameraForward = Point3f(0, 0, -1);
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}
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Point3f normalPoint(normalCenter.x, normalCenter.y, normalCenter.z);
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float cosAngle = cameraForward.dot(normalPoint);
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float angleDeg = std::acos(cosAngle) * 180.0f / M_PI;
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std::string strPath = imageData.name;
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std::string strName = MeshTexture::GetFileNameWithoutExtension(strPath);
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if (!scene.is_face_delete_edge(strName, virtualFaceCenterFaceID)) {
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if (scene.is_face_edge(strName, virtualFaceCenterFaceID)) {
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if (angleDeg <= 40.0f) {
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cameraAngles.emplace_back(idxView, angleDeg);
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}
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} else {
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cameraAngles.emplace_back(idxView, angleDeg);
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}
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}
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}
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// 按angleDeg从小到大排序
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std::sort(cameraAngles.begin(), cameraAngles.end(),
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[](const std::pair<IIndex, float>& a, const std::pair<IIndex, float>& b) {
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return a.second < b.second;
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});
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IIndexArr filteredCams;
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// 核心优化：根据中心面片质量决定选择多少张视图
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if (centerFaceQuality >= QUALITY_THRESHOLD) {
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// 质量高于阈值，尽量使用同一张视图（角度最小的）
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if (!cameraAngles.empty()) {
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// 只选择角度最小的一张视图
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filteredCams.push_back(cameraAngles[0].first);
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} else if (!selectedCams.empty()) {
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// 如果没有符合条件的相机，回退到原始选择中的第一个
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filteredCams.push_back(selectedCams[0]);
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}
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} else {
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// 质量低于阈值，可以选择多张视图
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size_t count = std::min(cameraAngles.size(), static_cast<size_t>(3));
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for (size_t i = 0; i < count; ++i) {
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filteredCams.push_back(cameraAngles[i].first);
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}
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}
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if (filteredCams.empty()) {
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selectedCams = filteredCams;
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isVirtualFace[virtualFaceCenterFaceID] = false;
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} else {
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selectedCams = filteredCams;
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isVirtualFace[virtualFaceCenterFaceID] = true;
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}
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currentVirtualFaceQueue.AddTail(virtualFaceCenterFaceID);
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queuedFaces.clear();
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do {
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const FIndex currentFaceId = currentVirtualFaceQueue.GetHead();
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currentVirtualFaceQueue.PopHead();
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const Normal& faceNormal = scene.mesh.faceNormals[currentFaceId];
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const float cosFaceToCenter(ComputeAngleN(normalCenter.ptr(), faceNormal.ptr()));
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if (cosFaceToCenter < dynamicCosTh)
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continue;
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ASSERT(!selectedCams.empty());
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if (!IsFaceVisible(facesDatas[currentFaceId], selectedCams))
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continue;
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const Color& centerColor = faceColors[virtualFaceCenterFaceID];
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const Color& currentColor = faceColors[currentFaceId];
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float colorDistance = cv::norm(centerColor - currentColor);
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if (colorDistance > 200.0f) {
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// continue; // 可选：如果颜色差异太大，跳过
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}
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if (colorDistance > thMaxColorDeviation) {
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// continue; // 可选：如果颜色差异太大，跳过
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}
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{
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const auto posToErase = remainingFaces.FindFirst(currentFaceId);
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ASSERT(posToErase != Mesh::FaceIdxArr::NO_INDEX);
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remainingFaces.RemoveAtMove(posToErase);
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selectedFaces[currentFaceId] = true;
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virtualFace.push_back(currentFaceId);
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}
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const Mesh::FaceFaces& ffaces = faceFaces[currentFaceId];
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for (int i = 0; i < 3; ++i) {
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const FIndex fIdx = ffaces[i];
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if (fIdx == NO_ID)
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continue;
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if (!selectedFaces[fIdx] && queuedFaces.find(fIdx) == queuedFaces.end()) {
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currentVirtualFaceQueue.AddTail(fIdx);
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queuedFaces.emplace(fIdx);
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}
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}
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} while (!currentVirtualFaceQueue.IsEmpty());
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// 计算虚拟面质量并创建虚拟面
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for (IIndex idxView: selectedCams) {
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FaceData& virtualFaceData = virtualFaceDatas.emplace_back();
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virtualFaceData.quality = 0;
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virtualFaceData.idxView = idxView;
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#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
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virtualFaceData.color = Point3f::ZERO;
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#endif
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const Image& imageData = images[idxView];
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std::string strPath = imageData.name;
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std::string strName = MeshTexture::GetFileNameWithoutExtension(strPath);
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int invalidQuality = 0;
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Color invalidColor = Point3f::ZERO;
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unsigned processedFaces(0);
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int invalidCount = 0;
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for (FIndex fid : virtualFace) {
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const FaceDataArr& faceDatas = facesDatas[fid];
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for (FaceData& faceData: faceDatas) {
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int nViewCount = 0;
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if (faceData.idxView == idxView) {
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for (const FaceData& fd : faceDatas) {
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if (faceData.bInvalidFacesRelative) {
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++nViewCount;
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}
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}
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if (bHasInvalidView) {
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++processedFaces;
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} else {
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#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
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#endif
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++processedFaces;
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}
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}
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}
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}
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int validViewsSize = validViews.size();
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if (bHasInvalidView) {
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const Color medianColor = ComputeMedianColorAndQuality(sortedViews).color;
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const float medianQuality = ComputeMedianColorAndQuality(sortedViews).quality;
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const float medianLuminance = ComputeMedianLuminance(sortedViews);
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const float colorMAD = ComputeColorMAD(sortedViews, medianColor);
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const float luminanceMAD = ComputeLuminanceMAD(sortedViews, medianLuminance);
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const float maxColorDeviation = 0.01f * colorMAD;
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const float maxLuminanceDeviation = 0.01f * luminanceMAD;
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std::vector<int> validIndices;
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for (int n = 0; n < sortedViews.size(); ++n) {
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const Color& viewColor = sortedViews[n].second;
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const float viewLuminance = MeshTexture::GetLuminance(viewColor);
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const float colorDistance = cv::norm(viewColor - medianColor);
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const float luminanceDistance = std::abs(viewLuminance - medianLuminance);
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if (colorDistance <= maxColorDeviation && luminanceDistance <= maxLuminanceDeviation) {
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if (scene.is_face_normal_visible_map(strName, virtualFaceCenterFaceID))
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validIndices.push_back(n);
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} else {
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const FIndex currentFaceId = currentVirtualFaceQueue.GetHead();
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const Normal& faceNormal = scene.mesh.faceNormals[currentFaceId];
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const float cosFaceToCenter(ComputeAngleN(normalCenter.ptr(), faceNormal.ptr()));
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bool bColorSimilarity = true;
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const Color& centerColor = faceColors[virtualFaceCenterFaceID];
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const Color& currentColor = faceColors[currentFaceId];
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float colorDistance2 = cv::norm(centerColor - currentColor);
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if (colorDistance2 > thMaxColorDeviation) {
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bColorSimilarity = false;
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}
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if (cosFaceToCenter<dynamicCosTh) {
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if (nInvalidViewCount<=2) {
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validIndices.push_back(n);
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} else {
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validIndices.push_back(n);
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}
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} else {
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if (nInvalidViewCount<=2) {
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validIndices.push_back(n);
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} else {
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validIndices.push_back(n);
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}
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}
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}
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}
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// 计算虚拟面数据
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ASSERT(processedFaces > 0);
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virtualFaceData.quality = 0;
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#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
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virtualFaceData.color = Point3f::ZERO;
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#endif
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} else {
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const Color medianColor = ComputeMedianColorAndQuality(sortedViews).color;
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const float medianQuality = ComputeMedianColorAndQuality(sortedViews).quality;
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const float medianLuminance = ComputeMedianLuminance(sortedViews);
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const float colorMAD = ComputeColorMAD(sortedViews, medianColor);
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const float luminanceMAD = ComputeLuminanceMAD(sortedViews, medianLuminance);
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const float maxColorDeviation = 0.01f * colorMAD;
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const float maxLuminanceDeviation = 0.05f * luminanceMAD;
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std::vector<int> validIndices;
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for (int n = 0; n < sortedViews.size(); ++n) {
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const Color& viewColor = sortedViews[n].second;
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const float viewLuminance = MeshTexture::GetLuminance(viewColor);
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const float colorDistance = cv::norm(viewColor - medianColor);
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const float luminanceDistance = std::abs(viewLuminance - medianLuminance);
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validIndices.push_back(n);
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}
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if (validIndices.empty()) {
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virtualFaceData.quality = medianQuality;
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virtualFaceData.color = medianColor;
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} else {
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float totalQuality2 = 0.0f;
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Color totalColor2 = Color(0,0,0);
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for (int idx : validIndices) {
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totalQuality2 += validViews[idx].first;
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totalColor2 += validViews[idx].second;
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}
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virtualFaceData.quality = totalQuality2 / validIndices.size();
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virtualFaceData.color = totalColor2 / validIndices.size();
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}
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}
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}
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ASSERT(!virtualFaceDatas.empty());
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}
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virtualFacesDatas.emplace_back(std::move(virtualFaceDatas));
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virtualFaces.emplace_back(std::move(virtualFace));
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} while (!remainingFaces.empty());
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return true;
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}
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bool MeshTexture::CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataViewArr& virtualFacesDatas, VirtualFaceIdxsArr& virtualFaces, std::vector<bool>& isVirtualFace, unsigned minCommonCameras, float thMaxNormalDeviation) const
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{
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if (meshCurvatures.empty()) {
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@@ -7245,6 +7621,7 @@ bool MeshTexture::FaceViewSelection3( unsigned minCommonCameras, float fOutlierT
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// CreateVirtualFaces6(facesDatas, virtualFacesDatas, virtualFaces, isVirtualFace, minCommonCameras);
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// CreateVirtualFaces61(facesDatas, virtualFacesDatas, virtualFaces, isVirtualFace, minCommonCameras);
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CreateVirtualFaces62(facesDatas, virtualFacesDatas, virtualFaces, isVirtualFace, minCommonCameras);
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// CreateVirtualFaces63(facesDatas, virtualFacesDatas, virtualFaces, isVirtualFace, minCommonCameras);
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TD_TIMER_STARTD();
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// CreateVirtualFaces7(facesDatas, virtualFacesDatas, virtualFaces, isVirtualFace, minCommonCameras);
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DEBUG_EXTRA("CreateVirtualFaces completed: %s", TD_TIMER_GET_FMT().c_str());
|
||||
|
||||
Reference in new issue
Block a user