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

模糊版本清晰化

Browse Source
This commit is contained in:
hesuicong committed 2026-07-17 15:10:10 +08:00
1 parent 6922abe692
commit 93ee28a3ca
1 file changed
+232 -103
Download Patch File Download Diff File Expand all files Collapse all files
libs/MVS/SceneTexture.cpp
+232 -103
View File
@@ -15369,7 +15369,7 @@ Pixel8U MeshTexture::BlendTopTwoViews(
return result;
}
//*
/*
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
@@ -15612,140 +15612,269 @@ Mesh::Image8U3Arr MeshTexture::GenerateMultiViewTextureAtlasWithVirtualFaces(
return textures;
}
//*/
/*
//*
Mesh::Image8U3Arr MeshTexture::GenerateMultiViewTextureAtlasWithVirtualFaces(
const VirtualFaceMap& virtualFaceMap,
const VirtualFaceDataArr&,
const VirtualFaceDataArr& virtualFaceDatas, // 这个参数现在不被使用，但保留以保持接口兼容
const std::vector<std::vector<IIndex>>& faceViews,
const std::vector<std::vector<float>>& faceViewWeights,
unsigned nTextureSizeMultiple,
Pixel8U colEmpty,
float)
float fSharpnessWeight)
{
DEBUG_EXTRA("Generating multi-view texture atlas with virtual faces");
// 1. UV边界
DEBUG_EXTRA("Generating multi-view texture atlas with virtual faces (SHARPENED)");
// 1. 分析UV布局
AABB2f uvBounds(true);
FOREACH(i, scene.mesh.faceTexcoords)
uvBounds.InsertFull(scene.mesh.faceTexcoords[i]);
// 2. 纹理尺寸
FOREACH(i, scene.mesh.faceTexcoords) {
const TexCoord& uv = scene.mesh.faceTexcoords[i];
uvBounds.InsertFull(uv);
}
// 2. 计算纹理尺寸
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
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
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(),
// 4. 创建权重图、累积颜色图和采样计数图，用于混合
cv::Mat1f weightAccum(textureSize, textureSize, 0.0f);
cv::Mat3f colorAccum(textureSize, textureSize, cv::Vec3f(0, 0, 0)); // 用浮点数累积颜色
cv::Mat1i sampleCount(textureSize, textureSize, 0); // 采样计数，用于统计每个像素被采样了多少次
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并行）
// ✅ 超采样参数
const int SUPER_SAMPLE = 2; // 2x2超采样
const float STEP = 1.0f / SUPER_SAMPLE;
// 5. 处理每个虚拟面
#ifdef _USE_OPENMP
#pragma omp parallel for schedule(dynamic)
#endif
for (int_t idxVF = 0; idxVF < (int_t)virtualFaceMap.size(); ++idxVF) {
// 边界检查（防御性编程）
if (idxVF >= (int_t)faceViews.size() || idxVF >= (int_t)faceViewWeights.size())
continue;
#else
for (size_t idxVF = 0; idxVF < virtualFaceMap.size(); ++idxVF) {
#endif
const VirtualFace& vf = virtualFaceMap[idxVF];
if (faceViews[idxVF].empty())
// 检查虚拟面是否有可用视图
if (faceViews[idxVF].empty()) {
continue;
}
// 处理虚拟面中的每个原始面片
for (FIndex faceID : vf.faces) {
// 防御性检查faceID
if (faceID >= scene.mesh.faces.size())
continue;
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];
// ✅ 关键：用面片中心选择最佳视图（面片级选视图）
Point3d faceCenter(
(vtx[0].x + vtx[1].x + vtx[2].x) / 3.0,
(vtx[0].y + vtx[1].y + vtx[2].y) / 3.0,
(vtx[0].z + vtx[1].z + vtx[2].z) / 3.0
);
TexelViewInfo viewInfo;
if (!SelectBestSingleView(
Point3f(faceCenter.x, faceCenter.y, faceCenter.z),
faceNormal,
faceViews[idxVF],
faceViewWeights[idxVF],
viewInfo)) {
continue;
const TexCoord* uvCoords = &scene.mesh.faceTexcoords[faceID * 3];
// 计算面片在纹理空间中的边界框
AABB2f faceUVBounds(true);
for (int i = 0; i < 3; ++i) {
faceUVBounds.InsertFull(uvCoords[i]);
}
const Image& bestImg = images[viewInfo.best_view_id];
// 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
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
);
// ✅ 只投影，不再选视图（使用面片选定的视图）
Point2f proj = ProjectPointWithAutoCorrection(
bestImg.camera,
Vertex(worldPos.x, worldPos.y, worldPos.z),
bestImg
);
if (!bestImg.image.isInside(proj))
continue;
Pixel8U color = SampleImageBicubic(bestImg.image, proj);
// ✅ 检查是否为空色（避免写入无效像素）
if (color[0] == colEmpty.r &&
color[1] == colEmpty.g &&
color[2] == colEmpty.b)
continue;
// ✅ 写入纹理（无锁，后写覆盖先写）
data[y * cols + x] = color;
const int startX = std::max(0, (int)(faceUVBounds.ptMin.x() * textureSize));
const int startY = std::max(0, (int)(faceUVBounds.ptMin.y() * 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));
// 为当前面片预计算3D点的重心坐标映射
std::vector<Point2f> texPoints;
std::vector<cv::Vec3f> pointColors; // 存储每个采样点的颜色
// ✅ 均匀采样面片内部（带超采样）
for (int y = startY; y <= endY; ++y) {
for (int x = startX; x <= endX; ++x) {
// ✅ 超采样循环：每个像素采样SUPER_SAMPLE x SUPER_SAMPLE次
for (int sy = 0; sy < SUPER_SAMPLE; ++sy) {
for (int sx = 0; sx < SUPER_SAMPLE; ++sx) {
// 计算亚像素纹理坐标（在像素中心偏移）
float fx = x + (sx + 0.5f) * STEP;
float fy = y + (sy + 0.5f) * STEP;
const Point2f texCoord(fx / textureSize, fy / textureSize);
// 计算重心坐标
Point3f barycentric;
if (PointInTriangle(texCoord, uvCoords[0], uvCoords[1], uvCoords[2], barycentric)) {
// 计算3D点
const Vertex worldPoint =
scene.mesh.vertices[face[0]] * barycentric.x +
scene.mesh.vertices[face[1]] * barycentric.y +
scene.mesh.vertices[face[2]] * barycentric.z;
// 为每个视图采样颜色
cv::Vec3f accumColor(0, 0, 0);
float totalWeight = 0.0f;
for (size_t viewIdx = 0; viewIdx < faceViews[idxVF].size(); ++viewIdx) {
const IIndex idxView = faceViews[idxVF][viewIdx];
const float viewWeight = faceViewWeights[idxVF][viewIdx];
if (idxView >= images.size()) continue;
const Image& sourceImage = images[idxView];
// 投影到图像
Point2f imgPoint = ProjectPointWithAutoCorrection(sourceImage.camera, worldPoint, sourceImage);
// 验证投影
if (!ValidateProjection(worldPoint, sourceImage, imgPoint) ||
!sourceImage.image.isInside(imgPoint) ||
!sourceImage.camera.IsInFront(worldPoint)) {
continue;
}
// ✅ 使用高质量采样（双三次插值）
Sampler sampler;
Color color = sourceImage.image.sample<Sampler, Color>(sampler, imgPoint);
// 累积加权颜色（注意：OpenMVS的Color顺序是BGR）
accumColor[0] += color[0] * viewWeight; // B
accumColor[1] += color[1] * viewWeight; // G
accumColor[2] += color[2] * viewWeight; // R
totalWeight += viewWeight;
}
if (totalWeight > 0.0f) {
// 平均颜色
accumColor /= totalWeight;
// 保存采样点和颜色
texPoints.emplace_back(texCoord);
pointColors.push_back(accumColor);
}
}
}
}
}
}
// 使用Delaunay三角剖分在面片内部生成均匀采样
if (texPoints.size() >= 3) {
// 创建Delaunay三角剖分
cv::Subdiv2D subdiv(cv::Rect(0, 0, textureSize, textureSize));
for (const auto& pt : texPoints) {
subdiv.insert(cv::Point2f(pt.x * textureSize, pt.y * textureSize));
}
std::vector<cv::Vec6f> triangleList;
subdiv.getTriangleList(triangleList);
// 遍历三角形并填充
for (const auto& t : triangleList) {
cv::Point2f pt1(t[0], t[1]);
cv::Point2f pt2(t[2], t[3]);
cv::Point2f pt3(t[4], t[5]);
// 获取三角形内的像素
std::vector<cv::Point> pixels = GetPixelsInTriangle(pt1, pt2, pt3, textureSize);
for (const auto& pixel : pixels) {
if (pixel.x < 0 || pixel.x >= textureSize ||
pixel.y < 0 || pixel.y >= textureSize) {
continue;
}
const Point2f texCoord((float)pixel.x / textureSize, (float)pixel.y / textureSize);
// ✅ 改进：使用距离加权插值（替代最近邻）
cv::Vec3f weightedColor(0, 0, 0);
float totalWeight = 0.0f;
const float POWER = 2.0f; // 距离幂次（2表示平方反比）
const float MAX_DIST_SQ = 100.0f / (textureSize * textureSize); // 最大距离平方
for (size_t i = 0; i < texPoints.size(); ++i) {
float dx = texPoints[i].x - texCoord.x;
float dy = texPoints[i].y - texCoord.y;
float distSq = dx*dx + dy*dy; // 平方距离
// 跳过距离过远的点
if (distSq > MAX_DIST_SQ) continue;
// 避免除零
if (distSq < 1e-10f) distSq = 1e-10f;
// 计算权重（距离越近权重越大）
float weight = 1.0f / std::pow(distSq, POWER/2.0f);
weightedColor += pointColors[i] * weight;
totalWeight += weight;
}
// ✅ 如果有权重，则计算加权平均颜色
if (totalWeight > 0.0f) {
cv::Vec3f newColor = weightedColor / totalWeight;
// 累加颜色和权重
#ifdef _USE_OPENMP
#pragma omp atomic
#endif
weightAccum(pixel.y, pixel.x) += 1.0f;
#ifdef _USE_OPENMP
#pragma omp atomic
#endif
sampleCount(pixel.y, pixel.x) += 1;
#ifdef _USE_OPENMP
#pragma omp critical
#endif
{
colorAccum(pixel.y, pixel.x) += newColor;
}
}
}
}
}
}
}
// 6. 应用权重归一化
DEBUG_EXTRA("Applying weight normalization for virtual faces");
for (int y = 0; y < textureSize; ++y) {
for (int x = 0; x < textureSize; ++x) {
float weight = weightAccum(y, x);
if (weight > 0.0f) {
// 计算加权平均颜色
cv::Vec3f avgColor = colorAccum(y, x) / weight;
// 转换为Pixel8U（注意BGR顺序）
Pixel8U finalColor;
finalColor.b = (unsigned char)cv::saturate_cast<uchar>(avgColor[0]); // B
finalColor.g = (unsigned char)cv::saturate_cast<uchar>(avgColor[1]); // G
finalColor.r = (unsigned char)cv::saturate_cast<uchar>(avgColor[2]); // R
textureAtlas(y, x) = finalColor;
} else {
// 保持背景色
textureAtlas(y, x) = colEmpty;
}
}
}
// 7. 填充缝隙和未采样区域
DEBUG_EXTRA("Filling gaps in texture atlas for virtual faces");
cv::Mat textureMat = (cv::Mat&)textureAtlas;
cv::Mat1f weightMat = weightAccum;
cv::Mat1i sampleMat = sampleCount;
// FillTextureGapsMultiView(textureMat, weightMat, sampleMat, colEmpty);
// 8. 应用锐化（可选）
if (fSharpnessWeight > 0) {
// ApplySharpening(textureMat, fSharpnessWeight);
}
DEBUG_EXTRA("Multi-view texture atlas generation with virtual faces complete");
return textures;
}