单像素清晰化保存

libs/MVS/SceneTexture.cpp

@@ -692,6 +692,13 @@ public:
 
 	bool GetWorldPositionAndNormal(const Point2f& texCoord,
     	Point3f& worldPos, Normal& normal, FIndex& faceID);
+	float CalculatePixelDensity(const Camera& cam, const Point3d& pos);
+	float CalculateLocalViewDensity(const Point3f& pos, 
+							const std::vector<IIndex>& visibleViews);
+	int GetAdaptiveTexelSize(const Point3f& pos,
+					const std::vector<IIndex>& visibleViews,
+					int baseTexelSize);
+	Pixel8U SampleImageBicubic(const Image8U3& img, const Point2f& pt);
 
 	Mesh::Image8U3Arr GenerateMultiViewTextureAtlasWithVirtualFaces(
 		const VirtualFaceMap& virtualFaceMap,
@@ -15088,70 +15095,186 @@ bool MeshTexture::GetWorldPositionAndNormal(
     return false;
 }
 
+float MeshTexture::CalculatePixelDensity(const Camera& cam, const Point3d& pos) {
+    // 1. 点在相机坐标系下的坐标
+    Point3d posCam = cam.R * pos + cam.C; // 世界坐标转相机坐标
+    const double Z = posCam.z;
+    if (Z <= DBL_EPSILON) return 0.0f; // 点在相机后
+
+    // 2. 透视投影的雅可比矩阵（描述世界空间变化到图像空间变化的映射）
+    // 投影公式：u = fx*(X/Z) + cx, v = fy*(Y/Z) + cy
+    const double fx = cam.K(0,0);
+    const double fy = cam.K(1,1);
+    const double invZ = 1.0 / Z;
+    const double invZ2 = invZ * invZ;
+
+    // 雅可比矩阵 J 的元素：∂u/∂X, ∂u/∂Y, ∂v/∂X, ∂v/∂Y
+    const double dudx = fx * invZ;
+    const double dudy = 0.0;
+    const double dvdx = 0.0;
+    const double dvdy = fy * invZ;
+    // （注：这里简化了Z方向的影响，因为切平面内Z的变化很小，不影响密度计算）
+
+    // 3. 面积缩放比 = 雅可比行列式的绝对值
+    const double scale = std::abs(dudx * dvdy - dudy * dvdx);
+    return static_cast<float>(scale);
+}
+
+float MeshTexture::CalculateLocalViewDensity(const Point3f& pos, 
+                               const std::vector<IIndex>& visibleViews) {
+    float density = 0.0f;
+    for (IIndex viewId : visibleViews) {
+        const Camera& cam = images[viewId].camera;
+        // 计算该视图在pos处的像素密度
+        float pixelDensity = CalculatePixelDensity(cam, pos);
+        density += pixelDensity;
+    }
+    return density;
+}
+
+int MeshTexture::GetAdaptiveTexelSize(const Point3f& pos,
+                        const std::vector<IIndex>& visibleViews,
+                        int baseTexelSize) {
+    float density = CalculateLocalViewDensity(pos, visibleViews);
+    
+    // 密度越高，纹素越小（分辨率越高）
+    if (density > 10.0f) return baseTexelSize / 2;      // 高密度区：2倍分辨率
+    else if (density > 5.0f) return baseTexelSize * 2/3; // 中高密度
+    else if (density > 2.0f) return baseTexelSize;       // 正常密度
+    else return baseTexelSize * 2;                      // 低密度区：降低分辨率
+}
+// 标准Keys立方滤波器（OpenCV/RC同款，a=-0.5）
+static inline float CubicKernel(float x, float a = -0.5f) {
+    x = std::abs(x);
+    if (x <= 1.0f) {
+        return (a + 2.0f) * x*x*x - (a + 3.0f) * x*x + 1.0f;
+    } else if (x < 2.0f) {
+        return a * x*x*x - 5.0f*a * x*x + 8.0f*a * x - 4.0f*a;
+    }
+    return 0.0f;
+}
+Pixel8U MeshTexture::SampleImageBicubic(const Image8U3& image, const Point2f& point) {
+    const int w = image.cols;
+    const int h = image.rows;
+    
+    const float x = CLAMP(point.x, 0.0f, (float)w - 1.001f);
+    const float y = CLAMP(point.y, 0.0f, (float)h - 1.001f);
+    
+    const int ix = (int)std::floor(x);
+    const int iy = (int)std::floor(y);
+    const float dx = x - ix;
+    const float dy = y - iy;
+    
+    // OpenCV Keys cubic (a=-0.75) - 和双线性同坐标系
+    auto cubic = [](float t) -> float {
+        t = std::abs(t);
+        if (t < 1.0f)
+            return 1.0f - 2.0f*t*t + t*t*t;
+        else if (t < 2.0f)
+            return 4.0f - 8.0f*t + 5.0f*t*t - t*t*t;
+        return 0.0f;
+    };
+    
+    float wx[4], wy[4];
+    for (int i = 0; i < 4; ++i) {
+        wx[i] = cubic(dx - (i - 1));
+        wy[i] = cubic(dy - (i - 1));
+    }
+    
+    double sum[3] = {0, 0, 0};
+    double weight_sum = 0.0;
+    
+    for (int j = 0; j < 4; ++j) {
+        const int py = CLAMP(iy + j - 1, 0, h - 1);
+        for (int i = 0; i < 4; ++i) {
+            const int px = CLAMP(ix + i - 1, 0, w - 1);
+            
+            // ✅ 关键：用 operator() 而不是 getPixel()
+            const Pixel8U& p = image(py, px);
+            const float w = wx[i] * wy[j];
+            
+            // ✅ 用 operator[] 访问通道（BGR顺序）
+            sum[0] += w * p[0];  // B
+            sum[1] += w * p[1];  // G
+            sum[2] += w * p[2];  // R
+            weight_sum += w;
+        }
+    }
+    
+    if (weight_sum > 1e-8) {
+        sum[0] /= weight_sum;
+        sum[1] /= weight_sum;
+        sum[2] /= weight_sum;
+    }
+    
+    Pixel8U result;
+    result[0] = (uint8_t)CLAMP(sum[0], 0.0, 255.0);
+    result[1] = (uint8_t)CLAMP(sum[1], 0.0, 255.0);
+    result[2] = (uint8_t)CLAMP(sum[2], 0.0, 255.0);
+    return result;
+}
+
 // 计算视图缩放因子
 float MeshTexture::CalculateViewScale(const Camera& cam, const Point3d& pos) {
-    // ✅ 全部使用 double
-    Point2d proj = cam.ProjectPointP(pos);
-    // Point2d proj_dx = cam.ProjectPointP(pos + Point3d(0.01, 0.0, 0.0));
-    // Point2d proj_dy = cam.ProjectPointP(pos + Point3d(0.0, 0.01, 0.0));
-    
-    // const double pixelArea = std::abs(
-    //     (proj_dx.x - proj.x) * (proj_dy.y - proj.y) -
-    //     (proj_dx.y - proj.y) * (proj_dy.x - proj.x)
-    // );
-    
-    // // ✅ 返回尺度权重
-    // return static_cast<float>(std::min(1.0, pixelArea / 4.0));
-	return 0.0f;
+    constexpr double delta = 0.01; 
+    
+    // ✅ 全部使用 SEACAVE::TPoint3<double>（即 Point3d）
+    const Point2d p0 = cam.ProjectPointP(pos);
+    
+    // ✅ 使用 Point3d 构造偏移点（不要用 cv::Point3d）
+    const Point2d p1 = cam.ProjectPointP(
+        Point3d(pos.x + delta, pos.y, pos.z)
+    );
+    const Point2d p2 = cam.ProjectPointP(
+        Point3d(pos.x, pos.y + delta, pos.z)
+    );
+    
+    // 计算投影后的微小平行四边形面积（像素²）
+    const double area = std::abs(
+        (p1.x - p0.x) * (p2.y - p0.y) - 
+        (p1.y - p0.y) * (p2.x - p0.x)
+    );
+    
+    return static_cast<float>(area);
 }
 
 bool MeshTexture::SelectBestViewForTexel(const Point3f& worldPos,
-                           const Normal& normal,
+                           const Normal& /*normal*/,
                            const std::vector<IIndex>& candidateViews,
-                           const std::vector<float>& viewWeights,
-                           TexelViewInfo& result) {
+                           const std::vector<float>& /*viewWeights*/,
+                           TexelViewInfo& result)
+{
     result.best_weight = -1.0f;
 
     for (size_t i = 0; i < candidateViews.size(); ++i) {
         const IIndex viewId = candidateViews[i];
         const Image& img = images[viewId];
 
-        // 1. 投影验证
-        Point2f proj = ProjectPointWithAutoCorrection(img.camera, worldPos, img);
-        if (!ValidateProjection(worldPos, img, proj) ||
-            !img.image.isInside(proj) ||
-            !img.camera.IsInFront(worldPos)) {
-            continue;
-        }
-        
-        // 2. 计算视角权重（关键：使用真实视角角度）
-		Point3f camCenter(
-			static_cast<float>(img.camera.C.x),
-			static_cast<float>(img.camera.C.y),
-			static_cast<float>(img.camera.C.z)
-		);
-
-		Point3f viewDir = camCenter - worldPos;
-
-        viewDir = NormalizePoint3(viewDir);
-        float cosAngle = normal.dot(viewDir);
+        // ✅ 和 V1 完全一致
+        Point2f proj = ProjectPointWithAutoCorrection(
+            img.camera,
+            Vertex(worldPos.x, worldPos.y, worldPos.z),
+            img
+        );
 
-        // 3. 计算尺度权重（避免远处视图的模糊）
-        float scale = CalculateViewScale(img.camera, worldPos);
+        // ✅ 只用最基本、最安全的检查
+        if (!img.camera.IsInFront(Vertex(worldPos.x, worldPos.y, worldPos.z)))
+            continue;
 
-        // 4. 综合评分
-        float score = viewWeights[i] * cosAngle * scale;
+        if (!img.image.isInside(proj))
+            continue;
 
-        if (score > result.best_weight) {
-            result.best_weight = score;
-            result.best_view_id = viewId;
-            result.best_proj = proj;
-        }
+        // ✅ 先不选“最佳”，先选“第一个能用的”
+        result.best_weight = 1.0f;
+        result.best_view_id = viewId;
+        result.best_proj = proj;
+        return true;
     }
 
-    return result.best_weight > 0.1f;
+    return false;
 }
 
+/*
 Mesh::Image8U3Arr MeshTexture::GenerateMultiViewTextureAtlasWithVirtualFaces(
     const VirtualFaceMap& virtualFaceMap,
     const VirtualFaceDataArr& virtualFaceDatas,  // 这个参数现在不被使用，但保留以保持接口兼容
@@ -15233,7 +15356,6 @@ Mesh::Image8U3Arr MeshTexture::GenerateMultiViewTextureAtlasWithVirtualFaces(
                 for (int x = startX; x <= endX; ++x) {
                     const Point2f texCoord((float)x / textureSize, (float)y / textureSize);
                     
-					/*
                     // 计算重心坐标
                     Point3f barycentric;
                     if (PointInTriangle(texCoord, uvCoords[0], uvCoords[1], uvCoords[2], barycentric)) {
@@ -15284,39 +15406,6 @@ Mesh::Image8U3Arr MeshTexture::GenerateMultiViewTextureAtlasWithVirtualFaces(
                             pointColors.push_back(accumColor);
                         }
                     }
-					//*/
-
-					//*
-					// 获取3D位置和法线
-					Point3f worldPos;
-					Normal normal;
-					FIndex faceID;
-					if (!GetWorldPositionAndNormal(texCoord, worldPos, normal, faceID)) continue;
-					
-					// 查找虚拟面
-					if (idxVF >= faceViews.size()) continue;
-					
-					// 1. 逐像素选图（关键！）
-					TexelViewInfo viewInfo;
-					if (!SelectBestViewForTexel(worldPos, normal,
-											faceViews[idxVF],
-											faceViewWeights[idxVF],
-											viewInfo)) {
-						continue;
-					}
-					
-					// // 2. 自适应纹素密度
-					// int adaptiveSize = GetAdaptiveTexelSize(worldPos, 
-					// 									faceViews[idxVF],
-					// 									textureSize);
-					
-					// // 3. 从最佳视图采样（使用双三次插值保持清晰度）
-					// const Image& bestImg = images[viewInfo.best_view_id];
-					// Pixel8U color = SampleImageBicubic(bestImg.image, viewInfo.best_proj);
-					
-					// // 存储结果
-					// textureAtlas(y, x) = color;
-					//*/
                 }
             }
             
@@ -15389,7 +15478,6 @@ Mesh::Image8U3Arr MeshTexture::GenerateMultiViewTextureAtlasWithVirtualFaces(
         }
     }
     
-	//*
     // 6. 应用权重归一化
     DEBUG_EXTRA("Applying weight normalization for virtual faces");
     for (int y = 0; y < textureSize; ++y) {
@@ -15412,7 +15500,6 @@ Mesh::Image8U3Arr MeshTexture::GenerateMultiViewTextureAtlasWithVirtualFaces(
             }
         }
     }
-	//*/
     
     // 7. 填充缝隙和未采样区域
     DEBUG_EXTRA("Filling gaps in texture atlas for virtual faces");
@@ -15429,6 +15516,122 @@ Mesh::Image8U3Arr MeshTexture::GenerateMultiViewTextureAtlasWithVirtualFaces(
     DEBUG_EXTRA("Multi-view texture atlas generation with virtual faces complete");
     return textures;
 }
+*/
+//*
+Mesh::Image8U3Arr MeshTexture::GenerateMultiViewTextureAtlasWithVirtualFaces(
+    const VirtualFaceMap& virtualFaceMap,
+    const VirtualFaceDataArr& virtualFaceDatas,
+    const std::vector<std::vector<IIndex>>& faceViews,
+    const std::vector<std::vector<float>>& faceViewWeights,
+    unsigned nTextureSizeMultiple,
+    Pixel8U colEmpty,
+    float fSharpnessWeight)
+{
+    DEBUG_EXTRA("Generating multi-view texture atlas with virtual faces");
+
+    // 1. UV边界
+    AABB2f uvBounds(true);
+    FOREACH(i, scene.mesh.faceTexcoords)
+        uvBounds.InsertFull(scene.mesh.faceTexcoords[i]);
+
+    // 2. 纹理尺寸
+    float uvWidth = uvBounds.ptMax.x() - uvBounds.ptMin.x();
+    float uvHeight = uvBounds.ptMax.y() - uvBounds.ptMin.y();
+    if (uvWidth < 0.001f) uvWidth = 1.0f;
+    if (uvHeight < 0.001f) uvHeight = 1.0f;
+
+    const int textureSize = ComputeOptimalTextureSize(uvWidth, uvHeight, nTextureSizeMultiple);
+
+    // 3. 创建纹理图集（只做这一件事）
+    Mesh::Image8U3Arr textures;
+    Image8U3& textureAtlas = textures.emplace_back(textureSize, textureSize);
+    textureAtlas.setTo(cv::Scalar(colEmpty.b, colEmpty.g, colEmpty.r));
+
+    // 缓存列数和数据指针（性能关键）
+	const int cols = textureAtlas.cols;
+	Pixel8U* data = reinterpret_cast<Pixel8U*>(textureAtlas.data);
+
+    DEBUG_EXTRA("Texture atlas size: %dx%d, UV bounds: [%.3f,%.3f]-[%.3f,%.3f]",
+                textureSize, textureSize,
+                uvBounds.ptMin.x(), uvBounds.ptMin.y(),
+                uvBounds.ptMax.x(), uvBounds.ptMax.y());
+
+    // 4. 遍历虚拟面（OpenMP安全，因为只写不读）
+    #ifdef _USE_OPENMP
+    #pragma omp parallel for schedule(dynamic)
+    #endif
+    for (int_t idxVF = 0; idxVF < (int_t)virtualFaceMap.size(); ++idxVF) {
+        const VirtualFace& vf = virtualFaceMap[idxVF];
+        if (faceViews[idxVF].empty()) continue;
+
+        for (FIndex faceID : vf.faces) {
+            const Face& face = scene.mesh.faces[faceID];
+            const TexCoord* uv = &scene.mesh.faceTexcoords[faceID * 3];
+            const Vertex* vtx = &scene.mesh.vertices[face[0]];
+            const Normal& faceNormal = scene.mesh.faceNormals[faceID];
+
+            // UV边界框
+            AABB2f uvBox(true);
+            uvBox.InsertFull(uv[0]);
+            uvBox.InsertFull(uv[1]);
+            uvBox.InsertFull(uv[2]);
+
+            const int x0 = std::max(0, (int)(uvBox.ptMin.x() * textureSize));
+            const int y0 = std::max(0, (int)(uvBox.ptMin.y() * textureSize));
+            const int x1 = std::min(textureSize - 1, (int)(uvBox.ptMax.x() * textureSize));
+            const int y1 = std::min(textureSize - 1, (int)(uvBox.ptMax.y() * textureSize));
+
+            // 遍历纹素
+            for (int y = y0; y <= y1; ++y) {
+                for (int x = x0; x <= x1; ++x) {
+                    const Point2f texCoord((float)x / textureSize, (float)y / textureSize);
+
+                    // 重心坐标测试
+                    Point3f bary;
+                    if (!PointInTriangle(texCoord, uv[0], uv[1], uv[2], bary))
+                        continue;
+
+                    // 计算世界点（直接插值，O(1)）
+                    Point3d worldPos(
+                        vtx[0].x * bary.x + vtx[1].x * bary.y + vtx[2].x * bary.z,
+                        vtx[0].y * bary.x + vtx[1].y * bary.y + vtx[2].y * bary.z,
+                        vtx[0].z * bary.x + vtx[1].z * bary.y + vtx[2].z * bary.z
+                    );
+
+                    // 逐像素选图
+                    TexelViewInfo viewInfo;
+                    if (!SelectBestViewForTexel(
+                            Point3f(worldPos.x, worldPos.y, worldPos.z),
+                            faceNormal,
+                            faceViews[idxVF],
+                            faceViewWeights[idxVF],
+                            viewInfo))
+                        continue;
+
+					// 采样并写入
+					const Image& bestImg = images[viewInfo.best_view_id];
+					// Pixel8U color = SampleImageBicubic(bestImg.image, viewInfo.best_proj);
+					Pixel8U color = SampleImageBilinear(bestImg.image, viewInfo.best_proj);
+
+					// // ✅ 正确、官方、颜色100%一致的写法
+					// Pixel8U color;
+					// bestImg.image.sample(
+					// 	viewInfo.best_proj.x,
+					// 	viewInfo.best_proj.y,
+					// 	color,
+					// 	SEACAVE::IMAGE_SAMPLE_BICUBIC
+					// );
+
+					data[y * cols + x] = color;
+                }
+            }
+        }
+    }
+
+    DEBUG_EXTRA("Multi-view texture atlas generation with virtual faces complete");
+    return textures;
+}
+//*/
 
 bool MeshTexture::TextureWithExistingUV(
     const IIndexArr& views, 
@@ -16722,26 +16925,30 @@ cv::Vec3b MeshTexture::ConvertBGRtoRGBIfNeeded(const cv::Vec3b& bgrColor) {
     }
 }
 
-Point2f MeshTexture::ProjectPointWithAutoCorrection(const Camera& camera, const Vertex& worldPoint, const Image& sourceImage) {
+Point2f MeshTexture::ProjectPointWithAutoCorrection(const Camera& camera, 
+                                                   const Vertex& worldPoint, 
+                                                   const Image& sourceImage) {
+    // ✅ 只做一件事：严格投影
     Point2f imgPoint = camera.ProjectPointP(worldPoint);
     
-    // 检查投影点是否在有效范围内
+    // ✅ 只验证，不修改
     if (!sourceImage.image.isInside(imgPoint)) {
-        // 尝试不同的偏移量来找到最佳投影点
-        std::vector<Point2f> testOffsets = {
-            Point2f(0, sourceImage.image.rows * 0.015f),  // 当前使用的偏移
-            Point2f(0, -sourceImage.image.rows * 0.015f), // 反向偏移
-            Point2f(sourceImage.image.cols * 0.015f, 0),  // 水平偏移
-            Point2f(0, 0)                                // 无偏移
-        };
-        
-        for (const auto& offset : testOffsets) {
-            Point2f testPoint = imgPoint + offset;
-            if (sourceImage.image.isInside(testPoint) && camera.IsInFront(worldPoint)) {
-                return testPoint;
-            }
-        }
-    }
+        // 记录调试信息，但不修改点
+        // DEBUG_EXTRA("投影点(%.3f, %.3f)超出图像范围(%d,%d)", 
+        //            imgPoint.x, imgPoint.y, 
+        //            sourceImage.image.width(), 
+        //            sourceImage.image.height());
+    }
+    
+    // ✅ 可选：轻微的数值稳定性修正（不是偏移！）
+    // 例如：处理浮点精度导致的边界外一点的情况
+    const float epsilon = 0.001f;
+    if (imgPoint.x < 0 && imgPoint.x > -epsilon) imgPoint.x = 0;
+    if (imgPoint.y < 0 && imgPoint.y > -epsilon) imgPoint.y = 0;
+    if (imgPoint.x >= sourceImage.image.width() - epsilon) 
+        imgPoint.x = static_cast<float>(sourceImage.image.width() - 1);
+    if (imgPoint.y >= sourceImage.image.height() - epsilon) 
+        imgPoint.y = static_cast<float>(sourceImage.image.height() - 1);
     
     return imgPoint;
 }
@@ -17322,26 +17529,28 @@ Mesh::Image8U3Arr MeshTexture::GenerateTextureAtlasFromUV(
 }
 
 bool MeshTexture::ValidateProjection(const Vertex& worldPoint, 
-                       const Image& sourceImage, Point2f imgPoint,
-                       float maxReprojectionError) {
-    // 1. 前向投影：3D点 → 2D图像坐标
-    Point2f projectedPoint = sourceImage.camera.ProjectPointP(worldPoint);
-    
-    // 2. 计算重投影误差
-    float reprojectionError = norm(projectedPoint - imgPoint);
-    
-    // 3. 设置误差阈值
-    if (reprojectionError > maxReprojectionError) {
-        DEBUG_EXTRA("重投影误差过大: %.3f像素，跳过该采样点", reprojectionError);
+                                     const Image& sourceImage, 
+                                     Point2f imgPoint,
+                                     float maxReprojectionError) {
+    // 1. 检查点是否在相机前方（最重要！）
+    if (!sourceImage.camera.IsInFront(worldPoint)) {
         return false;
     }
     
-    // 4. 视线方向一致性检查
-    if (!sourceImage.camera.IsInFront(worldPoint)) {
-        DEBUG_EXTRA("点位于相机后方，跳过");
+    // 2. 检查投影点是否在图像内（允许微小的数值误差）
+    const int width = sourceImage.image.width();
+    const int height = sourceImage.image.height();
+    const float epsilon = 0.001f;
+    
+    if (imgPoint.x < -epsilon || imgPoint.x >= width + epsilon ||
+        imgPoint.y < -epsilon || imgPoint.y >= height + epsilon) {
         return false;
     }
     
+    // 3. ✅ 删除重投影误差检查！
+    // 原因：在纹理映射中，我们没有“观测点”
+    // 投影点本身就是理论值，不需要和自己比较
+    
     return true;
 }
 
@@ -17497,61 +17706,42 @@ void MeshTexture::ProjectFaceToTexture(FIndex faceID, IIndex viewID,
  * @param bary 输出的重心坐标 (1-u-v, u, v)
  * @return bool 如果点在三角形内返回true，否则返回false
  */
-bool MeshTexture::PointInTriangle(const Point2f& p, const Point2f& a, const Point2f& b, const Point2f& c, Point3f& bary) 
+/// 判断2D点是否位于三角形内部，并计算对应的重心坐标
+/// @param p 待检测的2D点（纹理坐标，范围[0,1]，Point2f=TPoint2<float>，x/y为公有成员）
+/// @param a/b/c 三角形的三个顶点（纹理坐标，TexCoord=TPoint2<float>，x/y为公有成员）
+/// @param bary 输出的重心坐标（u,v,w分别对应a,b,c的权重，Point3f=TPoint3<float>，x/y/z为公有成员）
+/// @return 点在三角形内（含边界）返回true，否则false
+bool MeshTexture::PointInTriangle(const Point2f& p,
+                                  const TexCoord& a,
+                                  const TexCoord& b,
+                                  const TexCoord& c,
+                                  Point3f& bary)
 {
-    // 添加调试输出
-    // DEBUG_EXTRA("PointInTriangle - Input: p(%.6f,%.6f), a(%.6f,%.6f), b(%.6f,%.6f), c(%.6f,%.6f)", 
-    //            p.x, p.y, a.x, a.y, b.x, b.y, c.x, c.y);
-    
-    // 检查输入有效性
-    if (!std::isfinite(p.x) || !std::isfinite(p.y) ||
-        !std::isfinite(a.x) || !std::isfinite(a.y) ||
-        !std::isfinite(b.x) || !std::isfinite(b.y) ||
-        !std::isfinite(c.x) || !std::isfinite(c.y)) {
-        // DEBUG_EXTRA("PointInTriangle - Invalid input coordinates");
-        return false;
-    }
-    
-    // 计算边向量
-    Point2f v0 = b - a;
-    Point2f v1 = c - a;  
-    Point2f v2 = p - a;
-    
-    // 计算必要的点积
-    float dot00 = v0.x * v0.x + v0.y * v0.y;
-    float dot01 = v0.x * v1.x + v0.y * v1.y;
-    float dot02 = v0.x * v2.x + v0.y * v2.y;
-    float dot11 = v1.x * v1.x + v1.y * v1.y;
-    float dot12 = v1.x * v2.x + v1.y * v2.y;
-    
-    // 计算分母（三角形平行四边形面积的两倍）
-    float denom = dot00 * dot11 - dot01 * dot01;
-    
-    // 处理退化三角形情况（面积接近0）
-    const float epsilon = 1e-10f;
-    if (std::abs(denom) < epsilon) {
-        // DEBUG_EXTRA("PointInTriangle - Degenerate triangle, denom=%.10f", denom);
-        // return false;
-    }
-    
-    // 计算重心坐标参数
-    float invDenom = 1.0f / denom;
-    float u = (dot11 * dot02 - dot01 * dot12) * invDenom;
-    float v = (dot00 * dot12 - dot01 * dot02) * invDenom;
-    
-    // DEBUG_EXTRA("PointInTriangle - u=%.6f, v=%.6f, u+v=%.6f", u, v, u+v);
-    
-    // 检查点是否在三角形内（使用更宽松的容差）
-    if (u >= -epsilon && v >= -epsilon && (u + v) <= 1.0f + epsilon) {
-        // 点在三角形内，计算完整的重心坐标
-        bary.x = 1.0f - u - v;
-        bary.y = u;              
-        bary.z = v;
-        // DEBUG_EXTRA("PointInTriangle - Point INSIDE triangle, bary(%.3f,%.3f,%.3f)", bary.x, bary.y, bary.z);
+    // 直接访问顶点坐标公有成员，无函数调用开销，高频调用性能最优
+    const float ax = a.x, ay = a.y;
+    const float bx = b.x, by = b.y;
+    const float cx = c.x, cy = c.y;
+    const float px = p.x, py = p.y;
+
+    // 计算重心坐标行列式（三角形有向面积的2倍，过滤退化三角形）
+    const float det = (by - cy) * (ax - cx) + (cx - bx) * (ay - cy);
+    // 阈值1e-10f适配UV坐标精度，避免浮点误差导致的误判
+    if (std::abs(det) < 1e-10f) return false;
+
+    const float invDet = 1.0f / det;
+    // 计算重心坐标u(a的权重)、v(b的权重)
+    const float u = ((by - cy) * (px - cx) + (cx - bx) * (py - cy)) * invDet;
+    const float v = ((cy - ay) * (px - cx) + (ax - cx) * (py - cy)) * invDet;
+    const float w = 1.0f - u - v;
+
+    // 宽松边界判断：允许微小数值误差，确保UV三角形边缘像素不被过滤（解决纹理空白核心逻辑）
+    constexpr float eps = 1e-6f;
+    if (u >= -eps && v >= -eps && w >= -eps) {
+        bary.x = u;  // Point3f的x为公有成员，直接赋值
+        bary.y = v;  // Point3f的y为公有成员，直接赋值
+        bary.z = w;  // Point3f的z为公有成员，直接赋值
         return true;
     }
-    
-    // DEBUG_EXTRA("PointInTriangle - Point OUTSIDE triangle");
     return false;
 }