处理染色问题

libs/MVS/DepthMap.cpp

@@ -301,7 +301,7 @@ bool DepthEstimator::ImportIgnoreMask(const Image& image0, const Image8U::Size&
 {
 	ASSERT(image0.IsValid() && !image0.image.empty());
 	const String maskFileName(image0.maskName.empty() ? Util::getFileFullName(image0.name)+".mask.png" : image0.maskName);
-	std::cout << "maskFileName: " << maskFileName << std::endl;
+	// std::cout << "maskFileName: " << maskFileName << std::endl;
 	Image16U mask;
 	if (!mask.Load(maskFileName)) {
 		DEBUG("warning: can not load the segmentation mask '%s'", maskFileName.c_str());

libs/MVS/Scene.h

@@ -63,6 +63,8 @@ public:
 	unsigned nMaxThreads; // maximum number of threads used to distribute the work load
 
 	std::map<std::string, std::unordered_set<int>> visible_faces_map;
+	std::map<std::string, std::unordered_set<int>> edge_faces_map;
+	std::map<std::string, std::unordered_set<int>> delete_edge_faces_map;
 	std::unordered_set<int> face_visible_relative;
 
 public:
@@ -152,6 +154,17 @@ public:
 		unsigned nMaxFaceArea, unsigned nScales, float fScaleStep, unsigned nAlternatePair, float fRegularityWeight, float fRatioRigidityElasticity, float fGradientStep);
 	#endif
 
+	void SaveVisibleFacesData(std::map<std::string, std::unordered_set<int>>& visible_faces_map, 
+                         std::unordered_set<int>& face_visible_relative, 
+						 std::map<std::string, std::unordered_set<int>>& edge_faces_map,
+						 std::map<std::string, std::unordered_set<int>>& delete_edge_faces_map, 
+                         std::string& basePath);
+	bool LoadVisibleFacesData(std::map<std::string, std::unordered_set<int>>& visible_faces_map, 
+                         std::unordered_set<int>& face_visible_relative, 
+						 std::map<std::string, std::unordered_set<int>>& edge_faces_map,
+						 std::map<std::string, std::unordered_set<int>>& delete_edge_faces_map,
+                         std::string& basePath);
+
 	// Mesh texturing
 	bool TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned minCommonCameras=0, float fOutlierThreshold=0.f, float fRatioDataSmoothness=0.3f,
 		bool bGlobalSeamLeveling=true, bool bLocalSeamLeveling=true, unsigned nTextureSizeMultiple=0, unsigned nRectPackingHeuristic=3, Pixel8U colEmpty=Pixel8U(255,127,39),
@@ -159,8 +172,13 @@ public:
 
 	bool is_face_visible(const std::string& image_name, int face_index);
 	bool is_face_visible_relative(int face_index);
+	bool is_face_edge(const std::string& image_name, int face_index);
+	bool is_face_delete_edge(const std::string& image_name, int face_index);
+	
 	void SegmentMeshBasedOnCurvature(Mesh::FaceIdxArr& regionMap, float curvatureThreshold);
 
+	void ShowMesh();
+		
 	#ifdef _USE_BOOST
 	// implement BOOST serialization
 	template <class Archive>

libs/MVS/display_demo.py

@@ -0,0 +1,77 @@
+import open3d as o3d
+import os
+import argparse
+import numpy as np
+from PIL import Image
+
+class DisplayProcessor:
+    def __init__(self):
+
+        # argv = sys.argv[sys.argv.index("--") + 1:] if "--" in sys.argv else []
+        parser = argparse.ArgumentParser()
+
+        parser.add_argument(
+            "--id", 
+            required=True, 
+        )
+        parser.add_argument(
+            "--mask",
+            default=0
+        )
+
+        args = parser.parse_args()
+
+        self.id = args.id
+        mask = args.mask
+        out_dir = f"out.{self.id}.nomask"
+        if mask==1:
+            out_dir = f"out.{self.id}"
+
+        self.mesh = None
+        self.obj_path = f"/home/algo/Documents/openMVS/data/{self.id}/{out_dir}/mesh.obj"
+        
+        self.load_and_show()
+        
+    def load_and_show(self):
+        # 加载并变换所有模型
+
+        # 加载网格
+        mesh = None
+        try:
+            mesh = o3d.io.read_triangle_mesh(self.obj_path, enable_post_processing=True)
+            if not mesh.has_vertices():
+                print(f"警告: 网格无有效顶点 - {self.obj_path}")
+        except Exception as e:
+            print(f"加载模型失败: {self.obj_path} - {e}")
+
+        if not mesh:
+            print("没有加载到任何模型，请检查错误信息")
+        else:
+            # 可视化模型
+            print("显示模型... (按'Q'退出)")
+
+            try:
+                from packaging import version
+                o3d_version = version.parse(o3d.__version__)
+                # 新版本 draw_geometries 参数
+                if o3d_version >= version.parse("0.13.0"):
+                    o3d.visualization.draw_geometries(
+                        [mesh],
+                        window_name="模型展示",
+                        mesh_show_back_face=True,
+                        mesh_show_wireframe=False
+                    )
+                # 旧版本 draw_geometries 参数
+                else:
+                    o3d.visualization.draw_geometries(
+                        [mesh],
+                        window_name="模型展示",
+                        point_show_normal=False,
+                        mesh_show_back_face=True
+                    )
+            except Exception as e:
+                print(f"使用 draw_geometries 可视化失败: {e}")
+
+# 主程序
+if __name__ == "__main__":
+    DisplayProcessor().load_and_show()

libs/MVS/mask_face_occlusion.py

@@ -105,7 +105,7 @@ class ModelProcessor:
                         if i != j and j not in self.face_adjacency[i]:
                             self.face_adjacency[i].append(j)
 
-    def _expand_face_visibility(self, face_visibility):
+    def _expand_face_visibility(self, face_visibility, shrink_radius = 1):
         if self.face_adjacency is None:
             return face_visibility.copy()
             
@@ -120,7 +120,7 @@ class ModelProcessor:
                 queue.append((face_idx, 0))  # (面片索引, 当前扩展层数)
                 visited.add(face_idx)
         
-        self.expand_radius = 10
+        self.expand_radius = shrink_radius
         # 广度优先扩展
         while queue:
             current_idx, current_radius = queue.popleft()
@@ -214,6 +214,7 @@ class ModelProcessor:
         
         # 多级遮挡检测
         visible_mask, occlusion_mask = self._hierarchical_occlusion_test(
+        # visible_mask, occlusion_mask, vertex_depth_difference = self._hierarchical_occlusion_test2(
             vertices_cam[frustum_mask],
             depth_pyramid,
             (fx, fy, cx, cy),
@@ -226,6 +227,10 @@ class ModelProcessor:
         final_occlusion = np.zeros(len(vertices), dtype=bool)
         final_occlusion[frustum_mask] = occlusion_mask
 
+        # final_vertex_difference = np.zeros(len(vertices), dtype=bool)
+        # final_vertex_difference[frustum_mask] = vertex_depth_difference
+        
+        # return final_visible.tolist(), self._occlusion_expansion(final_occlusion, vertices), final_vertex_difference.tolist()
         return final_visible.tolist(), self._occlusion_expansion(final_occlusion, vertices)
 
     def _build_depth_pyramid2(self, depth_map, levels=4):
@@ -320,6 +325,197 @@ class ModelProcessor:
 
         return final_visible, final_occlusion
     
+    def _hierarchical_occlusion_test2(self, vertices_cam, depth_pyramid, intrinsics, img_size):
+        """层级式遮挡检测（安全版本）"""
+        fx, fy, cx, cy = intrinsics
+        height, width = img_size
+        
+        # 1. 过滤无效顶点
+        valid_mask = vertices_cam[:, 2] > 1e-6
+        vertices_valid = vertices_cam[valid_mask]
+        if len(vertices_valid) == 0:
+            return (np.zeros(len(vertices_cam), dtype=bool), 
+                    np.zeros(len(vertices_cam), dtype=bool),
+                    np.zeros(len(vertices_cam)))  # 返回空的深度差值数组
+        
+        visible = np.zeros(len(vertices_valid), dtype=bool)
+        occlusion = np.zeros(len(vertices_valid), dtype=bool)
+        
+        # 用于存储每个像素点的深度范围（最小值和最大值）
+        pixel_depth_min = {}
+        pixel_depth_max = {}
+        
+        # 2. 层级检测
+        for level in reversed(range(len(depth_pyramid))):
+            scale = 2 ** level
+            current_depth = depth_pyramid[level]
+            h, w = current_depth.shape
+            
+            # 安全构造内参矩阵
+            K = np.array([
+                [max(fx/(scale + 1e-6), 1e-6), 0, (cx - 0.5)/scale + 0.5],
+                [0, max(fy/(scale + 1e-6), 1e-6), (cy - 0.5)/scale + 0.5],
+                [0, 0, 1]
+            ], dtype=np.float32)
+            
+            # 投影计算
+            uv_homo = (K @ vertices_valid.T).T
+            uv = uv_homo[:, :2] / uv_homo[:, 2:3]
+            
+            # 安全边界处理
+            u = np.clip(uv[:, 0], 0.0, float(w-1))
+            v = np.clip(uv[:, 1], 0.0, float(h-1))
+            
+            # 转换为整数索引
+            u_idx = np.clip(np.floor(u).astype(np.int32), 0, w-1)
+            v_idx = np.clip(np.floor(v).astype(np.int32), 0, h-1)
+            
+            # 采样深度值
+            depth_vals = current_depth[v_idx, u_idx]
+            
+            # 只在最高分辨率层级（level=0）记录像素深度范围
+            if level == 0:
+                for i in range(len(u_idx)):
+                    pixel_key = (u_idx[i], v_idx[i])
+                    vertex_depth = vertices_valid[i, 2]
+                    
+                    # 更新像素的最小深度值
+                    if pixel_key not in pixel_depth_min or vertex_depth < pixel_depth_min[pixel_key]:
+                        pixel_depth_min[pixel_key] = vertex_depth
+                    
+                    # 更新像素的最大深度值
+                    if pixel_key not in pixel_depth_max or vertex_depth > pixel_depth_max[pixel_key]:
+                        pixel_depth_max[pixel_key] = vertex_depth
+            
+            # 深度比较
+            level_tol = 0.0008 * (2 ** level)  # 0.005 0.0008
+            visible |= (vertices_valid[:, 2] <= (depth_vals + level_tol))
+            occlusion |= (vertices_valid[:, 2] > (depth_vals + level_tol))
+        
+        # 计算每个像素的深度差值（最大深度 - 最小深度）
+        pixel_depth_difference = {}
+        for pixel_key in pixel_depth_min:
+            if pixel_key in pixel_depth_max:
+                pixel_depth_difference[pixel_key] = pixel_depth_max[pixel_key] - pixel_depth_min[pixel_key]
+        
+        # 为每个顶点分配对应的像素点深度差值
+        vertex_depth_difference = np.zeros(len(vertices_cam))
+        if level == 0:  # 确保我们记录了深度范围
+            for i in range(len(vertices_valid)):
+                pixel_key = (u_idx[i], v_idx[i])
+                if pixel_key in pixel_depth_difference:
+                    # 找到原始顶点索引
+                    orig_idx = np.where(valid_mask)[0][i]
+                    vertex_depth_difference[orig_idx] = pixel_depth_difference[pixel_key]
+        
+        # 3. 结果映射
+        final_visible = np.zeros(len(vertices_cam), dtype=bool)
+        final_visible[valid_mask] = visible
+
+        final_occlusion = np.zeros(len(vertices_cam), dtype=bool)
+        final_occlusion[valid_mask] = occlusion
+
+        return final_visible, final_occlusion, vertex_depth_difference
+       
+    def _hierarchical_occlusion_test3(self, vertices_cam, depth_pyramid, intrinsics, img_size):
+        """层级式遮挡检测（安全版本）"""
+        fx, fy, cx, cy = intrinsics
+        height, width = img_size
+        
+        # 1. 过滤无效顶点
+        valid_mask = vertices_cam[:, 2] > 1e-6
+        vertices_valid = vertices_cam[valid_mask]
+        if len(vertices_valid) == 0:
+            return (np.zeros(len(vertices_cam), dtype=bool), 
+                    np.zeros(len(vertices_cam), dtype=bool),
+                    {})  # 返回空的深度差值字典
+        
+        visible = np.zeros(len(vertices_valid), dtype=bool)
+        occlusion = np.zeros(len(vertices_valid), dtype=bool)
+        
+        # 用于存储每个像素点的深度范围
+        pixel_depth_range = {}
+        
+        # 用于存储每个顶点对应的像素坐标和深度差值
+        vertex_pixel_info = {}
+        
+        # 2. 层级检测
+        for level in reversed(range(len(depth_pyramid))):
+            scale = 2 ** level
+            current_depth = depth_pyramid[level]
+            h, w = current_depth.shape
+            
+            # 安全构造内参矩阵
+            K = np.array([
+                [max(fx/(scale + 1e-6), 1e-6), 0, (cx - 0.5)/scale + 0.5],
+                [0, max(fy/(scale + 1e-6), 1e-6), (cy - 0.5)/scale + 0.5],
+                [0, 0, 1]
+            ], dtype=np.float32)
+            
+            # 投影计算
+            uv_homo = (K @ vertices_valid.T).T
+            uv = uv_homo[:, :2] / uv_homo[:, 2:3]
+            
+            # 安全边界处理
+            u = np.clip(uv[:, 0], 0.0, float(w-1))
+            v = np.clip(uv[:, 1], 0.0, float(h-1))
+            
+            # 转换为整数索引
+            u_idx = np.clip(np.floor(u).astype(np.int32), 0, w-1)
+            v_idx = np.clip(np.floor(v).astype(np.int32), 0, h-1)
+            
+            # 采样深度值
+            depth_vals = current_depth[v_idx, u_idx]
+            
+            # 记录每个像素点的深度范围（只在最高分辨率层级记录）
+            # if level == 0:  # 只在原始分辨率层级记录
+            if True:
+                for i in range(len(u_idx)):
+                    vertex_idx = np.where(valid_mask)[0][i]  # 获取原始顶点索引
+                    pixel_key = (u_idx[i], v_idx[i])
+                    
+                    # 记录顶点对应的像素坐标
+                    vertex_pixel_info[vertex_idx] = pixel_key
+                    
+                    # 记录像素点的深度范围
+                    if pixel_key not in pixel_depth_range:
+                        pixel_depth_range[pixel_key] = {
+                            'min': vertices_valid[i, 2],  # 顶点深度
+                            'max': vertices_valid[i, 2],  # 顶点深度
+                            'count': 1
+                        }
+                    else:
+                        pixel_depth_range[pixel_key]['min'] = min(
+                            pixel_depth_range[pixel_key]['min'], vertices_valid[i, 2])
+                        pixel_depth_range[pixel_key]['max'] = max(
+                            pixel_depth_range[pixel_key]['max'], vertices_valid[i, 2])
+                        pixel_depth_range[pixel_key]['count'] += 1
+            
+            # 深度比较
+            level_tol = 0.0008 * (2 ** level)  # 0.005 0.0008
+            visible |= (vertices_valid[:, 2] <= (depth_vals + level_tol))
+            occlusion |= (vertices_valid[:, 2] > (depth_vals + level_tol))
+        
+        # 计算每个像素点的深度差值
+        pixel_depth_difference = {}
+        for pixel_key, depth_range in pixel_depth_range.items():
+            pixel_depth_difference[pixel_key] = depth_range['max'] - depth_range['min']
+        
+        # 为每个顶点分配对应的像素点深度差值
+        vertex_depth_difference = np.zeros(len(vertices_cam))
+        for vertex_idx, pixel_key in vertex_pixel_info.items():
+            if pixel_key in pixel_depth_difference:
+                vertex_depth_difference[vertex_idx] = pixel_depth_difference[pixel_key]
+        
+        # 3. 结果映射
+        final_visible = np.zeros(len(vertices_cam), dtype=bool)
+        final_visible[valid_mask] = visible
+
+        final_occlusion = np.zeros(len(vertices_cam), dtype=bool)
+        final_occlusion[valid_mask] = occlusion
+
+        return final_visible, final_occlusion, vertex_depth_difference
+
     def _occlusion_expansion(self, occlusion_mask, vertices, radius=0.0008):
         """基于空间哈希的快速遮挡扩展"""
         from collections import defaultdict
@@ -393,6 +589,7 @@ class ModelProcessor:
         R = self.qvec2rotmat(camera_data['qvec']).T
         eye = -R @ camera_data['tvec']
         # eye = camera_data['tvec']
+        # final_visible_list, final_occlusion_list, final_vertex_difference_list = self._compute_vertex_in_frustum(
         final_visible_list, final_occlusion_list = self._compute_vertex_in_frustum(
             camera_data['fx'], camera_data['fy'],
             camera_data['cx'], camera_data['cy'],
@@ -443,11 +640,12 @@ class ModelProcessor:
             output_path = f"{self.asset_dir}/mesh_{self.id}_脸部遮挡判断.ply"
             o3d.io.write_triangle_mesh(output_path, self.mesh)
             print(f"Processing completed. Results saved to {output_path}")
-        """
+        #"""
         # 获取三角形面片数组
         triangles = np.asarray(self.mesh.triangles)
         
         face_visible_bitmap = np.zeros(len(triangles), dtype=bool)
+        # face_edge_bitmap = np.zeros(len(triangles), dtype=bool)
         
         # 遍历所有面片
         for face_idx, face in enumerate(triangles):
@@ -459,11 +657,266 @@ class ModelProcessor:
                 final_visible_list[v2]
             ]) 
 
+            # threshold = 0.5
+            # face_edge_bitmap[face_idx] = all([ # any all
+            #     final_vertex_difference_list[v0] < threshold,
+            #     final_vertex_difference_list[v1] < threshold,
+            #     final_vertex_difference_list[v2] < threshold
+            # ]) 
+
         # return face_visible_bitmap
-        # expanded_visibility = self._expand_face_visibility(face_visible_bitmap)
-        # return expanded_visibility
         shrunk_visibility = self._shrink_face_visibility(face_visible_bitmap, 6) # 6 10
-        return shrunk_visibility
+
+        # 16,13;13,16;16,16
+        expanded_visibility = self._expand_face_visibility(face_visible_bitmap, 30)
+        shrunk_visibility2 = self._shrink_face_visibility(face_visible_bitmap, 50)
+        expanded_edge = expanded_visibility & ~shrunk_visibility2
+        delete_edge = face_visible_bitmap & ~shrunk_visibility
+
+        """
+        # 创建顶点可见性映射（基于面片可见性）
+        vertex_visibility = np.zeros(len(self.mesh.vertices), dtype=bool)
+        # 遍历所有面片，将可见面片的顶点标记为可见
+        for face_idx, face in enumerate(triangles):
+            # if expanded_edge[face_idx] and face_edge_bitmap[face_idx] :
+            if delete_edge[face_idx] :
+                vertex_visibility[face[0]] = True
+                vertex_visibility[face[1]] = True
+                vertex_visibility[face[2]] = True
+
+
+        vertices = np.asarray(self.mesh.vertices)
+        vertex_index_map = {tuple(v.tolist()): i for i, v in enumerate(vertices)}
+
+        vertex_colors = np.asarray(self.mesh.vertex_colors)
+        if face_points==None:
+            for vertex_id, coord in enumerate(self.mesh.vertices):
+                if vertex_visibility[vertex_id]:
+                    vertex_colors[vertex_id] = [1.0, 0.0, 0.0]
+            
+            # 保存最终模型
+            output_path = f"{self.asset_dir}/mesh_{self.id}_edge.ply"
+            o3d.io.write_triangle_mesh(output_path, self.mesh)
+            print(f"Processing completed. Results saved to {output_path}")
+        else:
+            list_id = []
+            # sorted_verts = self.sort_vertices(self.mesh.vertices)
+            sorted_verts =sorted(
+                (tuple(v.tolist()) for v in vertices),
+                key=lambda v: (v[0], v[1], v[2])
+            )
+            dict_s_o = {} 
+            dict_o_s = {} 
+            for sorted_idx, sorted_v in enumerate(sorted_verts):
+                original_idx = vertex_index_map[sorted_v]
+                dict_s_o[sorted_idx] = original_idx
+                dict_o_s[original_idx] = sorted_idx
+
+            for vertex_id, coord in enumerate(self.mesh.vertices):
+                # print(vertex_id, coord)
+                if vertex_visibility[vertex_id]:
+                    if dict_o_s[vertex_id] in face_points:
+                        list_id.append(dict_o_s[vertex_id])
+                        vertex_colors[vertex_id] = [1.0, 0.0, 0.0]
+
+            # 保存最终模型
+            output_path = f"{self.asset_dir}/mesh_{self.id}_edge.ply"
+            o3d.io.write_triangle_mesh(output_path, self.mesh)
+            print(f"Processing completed. Results saved to {output_path}")
+        #"""
+
+        """
+        # 创建顶点可见性映射（基于面片可见性）
+        vertex_visibility = np.zeros(len(self.mesh.vertices), dtype=bool)
+        # 遍历所有面片，将可见面片的顶点标记为可见
+        for face_idx, face in enumerate(triangles):
+            if expanded_visibility[face_idx]:
+                vertex_visibility[face[0]] = True
+                vertex_visibility[face[1]] = True
+                vertex_visibility[face[2]] = True
+
+
+        vertices = np.asarray(self.mesh.vertices)
+        vertex_index_map = {tuple(v.tolist()): i for i, v in enumerate(vertices)}
+
+        vertex_colors = np.asarray(self.mesh.vertex_colors)
+        if face_points==None:
+            for vertex_id, coord in enumerate(self.mesh.vertices):
+                if vertex_visibility[vertex_id]:
+                    vertex_colors[vertex_id] = [1.0, 0.0, 0.0]
+            
+            # 保存最终模型
+            output_path = f"{self.asset_dir}/mesh_{self.id}_expanded.ply"
+            o3d.io.write_triangle_mesh(output_path, self.mesh)
+            print(f"Processing completed. Results saved to {output_path}")
+        else:
+            list_id = []
+            # sorted_verts = self.sort_vertices(self.mesh.vertices)
+            sorted_verts =sorted(
+                (tuple(v.tolist()) for v in vertices),
+                key=lambda v: (v[0], v[1], v[2])
+            )
+            dict_s_o = {} 
+            dict_o_s = {} 
+            for sorted_idx, sorted_v in enumerate(sorted_verts):
+                original_idx = vertex_index_map[sorted_v]
+                dict_s_o[sorted_idx] = original_idx
+                dict_o_s[original_idx] = sorted_idx
+
+            for vertex_id, coord in enumerate(self.mesh.vertices):
+                # print(vertex_id, coord)
+                if vertex_visibility[vertex_id]:
+                    if dict_o_s[vertex_id] in face_points:
+                        list_id.append(dict_o_s[vertex_id])
+                        vertex_colors[vertex_id] = [1.0, 0.0, 0.0]
+
+            # 保存最终模型
+            output_path = f"{self.asset_dir}/mesh_{self.id}_expanded.ply"
+            o3d.io.write_triangle_mesh(output_path, self.mesh)
+            print(f"Processing completed. Results saved to {output_path}")
+        #"""
+
+        """
+        # 创建顶点可见性映射（基于面片可见性）
+        vertex_visibility = np.zeros(len(self.mesh.vertices), dtype=bool)
+        # 遍历所有面片，将可见面片的顶点标记为可见
+        for face_idx, face in enumerate(triangles):
+            if shrunk_visibility2[face_idx]:
+                vertex_visibility[face[0]] = True
+                vertex_visibility[face[1]] = True
+                vertex_visibility[face[2]] = True
+
+
+        vertices = np.asarray(self.mesh.vertices)
+        vertex_index_map = {tuple(v.tolist()): i for i, v in enumerate(vertices)}
+
+        vertex_colors = np.asarray(self.mesh.vertex_colors)
+        if face_points==None:
+            for vertex_id, coord in enumerate(self.mesh.vertices):
+                if vertex_visibility[vertex_id]:
+                    vertex_colors[vertex_id] = [1.0, 0.0, 0.0]
+            
+            # 保存最终模型
+            output_path = f"{self.asset_dir}/mesh_{self.id}_shrunk.ply"
+            o3d.io.write_triangle_mesh(output_path, self.mesh)
+            print(f"Processing completed. Results saved to {output_path}")
+        else:
+            list_id = []
+            # sorted_verts = self.sort_vertices(self.mesh.vertices)
+            sorted_verts =sorted(
+                (tuple(v.tolist()) for v in vertices),
+                key=lambda v: (v[0], v[1], v[2])
+            )
+            dict_s_o = {} 
+            dict_o_s = {} 
+            for sorted_idx, sorted_v in enumerate(sorted_verts):
+                original_idx = vertex_index_map[sorted_v]
+                dict_s_o[sorted_idx] = original_idx
+                dict_o_s[original_idx] = sorted_idx
+
+            for vertex_id, coord in enumerate(self.mesh.vertices):
+                # print(vertex_id, coord)
+                if vertex_visibility[vertex_id]:
+                    if dict_o_s[vertex_id] in face_points:
+                        list_id.append(dict_o_s[vertex_id])
+                        vertex_colors[vertex_id] = [1.0, 0.0, 0.0]
+
+            # 保存最终模型
+            output_path = f"{self.asset_dir}/mesh_{self.id}_shrunk.ply"
+            o3d.io.write_triangle_mesh(output_path, self.mesh)
+            print(f"Processing completed. Results saved to {output_path}")
+        #"""
+        
+        return shrunk_visibility, expanded_edge, delete_edge
+    
+    def _flag_contour(self, camera_data, face_points):
+        """标记可见顶点"""
+        vertex_visible = []
+        vertex_occlusion = []
+        depth_images = []
+
+        render = o3d.visualization.rendering.OffscreenRenderer(camera_data['width'], camera_data['height'])
+        
+        material = o3d.visualization.rendering.MaterialRecord()
+        render.scene.add_geometry("mesh", self.mesh, material)
+
+        # 生成深度图
+        depth_image = self._gen_depth_image(camera_data, render)
+
+        # 获取相机参数
+        fx = camera_data['fx']
+        fy = camera_data['fy']
+        cx = camera_data['cx']
+        cy = camera_data['cy']
+        height = camera_data['height']
+        width = camera_data['width']
+
+        # 计算顶点在相机空间中的坐标
+        w2c = get_w2c(camera_data['qvec'], camera_data['tvec'])
+        vertices = np.asarray(self.mesh.vertices)
+        vertices_homo = np.hstack([vertices, np.ones((len(vertices), 1))])
+        vertices_cam = (w2c @ vertices_homo.T).T[:, :3]
+
+        # 过滤掉相机后面的顶点
+        valid_mask = vertices_cam[:, 2] > 0
+        vertices_valid = vertices_cam[valid_mask]
+
+        # 投影顶点到图像平面
+        u = (vertices_valid[:, 0] * fx / vertices_valid[:, 2] + cx)
+        v = (vertices_valid[:, 1] * fy / vertices_valid[:, 2] + cy)
+        u_idx = np.clip(np.floor(u).astype(int), 0, width-1)
+        v_idx = np.clip(np.floor(v).astype(int), 0, height-1)
+
+        # 初始化 min_depth_map 和 max_depth_map
+        min_depth_map = np.full((height, width), np.inf)
+        max_depth_map = np.zeros((height, width))
+
+        # 更新 min_depth_map 和 max_depth_map
+        for i in range(len(vertices_valid)):
+            x = u_idx[i]
+            y = v_idx[i]
+            d = vertices_valid[i, 2]
+            if d < min_depth_map[y, x]:
+                min_depth_map[y, x] = d
+            if d > max_depth_map[y, x]:
+                max_depth_map[y, x] = d
+
+        # 对于每个顶点，检查深度范围
+        edge_vertices = np.zeros(len(vertices), dtype=bool)
+        threshold = 3  # 阈值，可根据需要调整
+        for i in range(len(vertices_valid)):
+            x = u_idx[i]
+            y = v_idx[i]
+            if min_depth_map[y, x] < np.inf:  # 确保有数据
+                depth_range = max_depth_map[y, x] - min_depth_map[y, x]
+                if depth_range > threshold:
+                    # 找到原始顶点索引
+                    orig_idx = np.where(valid_mask)[0][i]
+                    edge_vertices[orig_idx] = False
+
+        # 标记边缘顶点
+        vertex_colors = np.asarray(self.mesh.vertex_colors)
+        for i in range(len(vertices)):
+            if edge_vertices[i]:
+                vertex_colors[i] = [1.0, 0.0, 0.0]  # 红色表示边缘
+
+        # 保存模型
+        output_path = f"{self.asset_dir}/mesh_{self.id}_edge.ply"
+        o3d.io.write_triangle_mesh(output_path, self.mesh)
+        print(f"Edge detection completed. Results saved to {output_path}")
+
+        # 计算面片的边缘性
+        triangles = np.asarray(self.mesh.triangles)
+        face_edge = np.zeros(len(triangles), dtype=bool)
+        for face_idx, face in enumerate(triangles):
+            if any(edge_vertices[face]):
+                face_edge[face_idx] = True
+
+        # 为了兼容原有代码，返回面片可见性和边缘性
+        # 注意：这里face_visible_bitmap未定义，但原有代码可能期望返回两个值
+        # 如果需要面片可见性，可以保留原有逻辑，但这里简化处理
+        face_visible_bitmap = np.ones(len(triangles), dtype=bool)  # 临时填充
+        return face_visible_bitmap, face_edge
 
     """
     def _mask_face_occlusion(self):
@@ -523,7 +976,11 @@ class ModelProcessor:
 
         return self._flag_model(camera_data, None)   
         """   
+        countour_faces_dict = {}
         visible_faces_dict = {}
+        edge_faces_dict = {}
+        delete_edge_faces_dict = {}
+        n = 0
         for img in images.values():
             camera = cameras[img.camera_id]
             camera_data = {
@@ -538,14 +995,20 @@ class ModelProcessor:
                 "name": img.name[:-4]
             }
             img_name = img.name[:-4]
-            print("img_name=", img_name)
+            print("img_name=", img_name, n)
             # if (img_name!="72_2" and img_name!="82_2" and img_name!="83_2"): # 82_2 72_2
-            #if (img_name!="82_2"):
+            # if (img_name!="74_8"):
             #    continue
-            face_visibility = self._flag_model(camera_data, None)   
+            # face_visibility2, face_contour = self._flag_contour(camera_data, None)
+            # countour_faces_dict[img.name[:-4]] = np.where(face_contour)[0].tolist()
+            face_visibility, face_edge, face_delete_edge = self._flag_model(camera_data, None)
             visible_faces_dict[img.name[:-4]] = np.where(face_visibility)[0].tolist()
+            edge_faces_dict[img.name[:-4]] = np.where(face_edge)[0].tolist()
+            delete_edge_faces_dict[img.name[:-4]] = np.where(face_delete_edge)[0].tolist()
+            n += 1
 
-        return visible_faces_dict
+        return {"result1": visible_faces_dict, "result2": edge_faces_dict, "result3": delete_edge_faces_dict}
+        # return {"result1": visible_faces_dict, "result2": countour_faces_dict}
 
     def process(self):