中间版本

libs/MVS/SceneTexture.cpp

@@ -14268,78 +14268,66 @@ bool MeshTexture::RasterizeVirtualFaces(
             }
             if (!validIndices) continue;
 
-            for (int y = minY; y <= maxY; ++y) {
-                for (int x = minX; x <= maxX; ++x) {
-                    Point2f texCoord(
-                        (x + 0.5f) / textureSize,
-                        (y + 0.5f) / textureSize
-                    );
+			for (int y = minY; y <= maxY; ++y) {
+				for (int x = minX; x <= maxX; ++x) {
+					Point2f texCoord(
+						(x + 0.5f) / textureSize,
+						(y + 0.5f) / textureSize
+					);
 
-                    Point3f bary;
-                    if (!PointInTriangle(texCoord, uv[0], uv[1], uv[2], bary))
-                        continue;
+					Point3f bary;
+					if (!PointInTriangle(texCoord, uv[0], uv[1], uv[2], bary))
+						continue;
 
-                    // ✅ 透视校正插值
-                    // 计算插值后的1/z
-                    float invZ = bary.x / vertexDepths[0] + 
-                               bary.y / vertexDepths[1] + 
-                               bary.z / vertexDepths[2];
-                    if (invZ <= 0.0f) continue;
-                    
-                    float depth = 1.0f / invZ;  // 校正后的深度
-                    
-                    // ✅ 透视校正的世界坐标
-                    Point3f P(
-                        (verts[0]->x * bary.x / vertexDepths[0] +
-                         verts[1]->x * bary.y / vertexDepths[1] +
-                         verts[2]->x * bary.z / vertexDepths[2]) * depth,
-                        (verts[0]->y * bary.x / vertexDepths[0] +
-                         verts[1]->y * bary.y / vertexDepths[1] +
-                         verts[2]->y * bary.z / vertexDepths[2]) * depth,
-                        (verts[0]->z * bary.x / vertexDepths[0] +
-                         verts[1]->z * bary.y / vertexDepths[1] +
-                         verts[2]->z * bary.z / vertexDepths[2]) * depth
-                    );
+					// ✅ 透视校正插值（double 精度）
+					double invZ = bary.x / vertexDepths[0] +
+								bary.y / vertexDepths[1] +
+								bary.z / vertexDepths[2];
+					if (invZ <= 0.0) continue;
 
-                    // ✅ 正确的深度测试：只保留更近的像素
-                    if (depth <= 0.0f) continue;
+					// ✅ 校正后的重心坐标
+					double u0 = (bary.x / vertexDepths[0]) / invZ;
+					double u1 = (bary.y / vertexDepths[1]) / invZ;
+					double u2 = (bary.z / vertexDepths[2]) / invZ;
 
+					// ✅ 透视校正的世界坐标（double）
 					Point3d P_double(
-						(verts[0]->x * bary.x / vertexDepths[0] +
-						verts[1]->x * bary.y / vertexDepths[1] +
-						verts[2]->x * bary.z / vertexDepths[2]) / invZ,
-						(verts[0]->y * bary.x / vertexDepths[0] +
-						verts[1]->y * bary.y / vertexDepths[1] +
-						verts[2]->y * bary.z / vertexDepths[2]) / invZ,
-						(verts[0]->z * bary.x / vertexDepths[0] +
-						verts[1]->z * bary.y / vertexDepths[1] +
-						verts[2]->z * bary.z / vertexDepths[2]) / invZ
+						verts[0]->x * u0 + verts[1]->x * u1 + verts[2]->x * u2,
+						verts[0]->y * u0 + verts[1]->y * u1 + verts[2]->y * u2,
+						verts[0]->z * u0 + verts[1]->z * u1 + verts[2]->z * u2
 					);
 
-					Point2f imgPt = cam.ProjectPoint(P_double);
-                    
-                    // 边界检查
-                    if (imgPt.x < 0.5f || imgPt.y < 0.5f ||
-                        imgPt.x >= srcW - 0.5f || imgPt.y >= srcH - 0.5f)
-                        continue;
+					// ✅ 正确的投影（double → float）
+					Point2d imgPtDouble = cam.ProjectPoint(P_double);
+					Point2f imgPt(static_cast<float>(imgPtDouble.x),
+								static_cast<float>(imgPtDouble.y));
 
-                    // ✅ 双线性采样（关键！）
-                    Color color = BilinearSample(srcImg.image, imgPt);
-                    if (color[0] < 0 || color[1] < 0 || color[2] < 0) continue;
+					// ✅ 边界检查
+					if (imgPt.x < 0.5f || imgPt.y < 0.5f ||
+						imgPt.x >= srcW - 0.5f || imgPt.y >= srcH - 0.5f)
+						continue;
 
-                    // ✅ 单一临界区：原子更新深度和颜色
-                    #pragma omp critical
-                    {
-                        if (depth < depthBuffer(y, x)) {
-                            depthBuffer(y, x) = depth;
-                            colorBuffer(y, x) = cv::Vec3f(color[0], color[1], color[2]); // BGR->RGB
-                            validBuffer(y, x) = 1;
-                        }
-                    }
-                }
-            }
-        }
-    }
+					// ✅ 双线性采样
+					Color color = BilinearSample(srcImg.image, imgPt);
+					if (color[0] < 0 || color[1] < 0 || color[2] < 0) continue;
+
+					// ✅ 深度测试（float 缓冲，double 比较）
+					float depthFloat = static_cast<float>(1.0 / invZ);
+
+					#pragma omp critical
+					{
+						if (depthFloat < depthBuffer(y, x)) {
+							depthBuffer(y, x) = depthFloat;
+							colorBuffer(y, x) = cv::Vec3f(
+								color[0], color[1], color[2]
+							);
+							validBuffer(y, x) = 1;
+						}
+					}
+				}
+			}
+		}
+	}
 
     // --------------------------------------------------
     // 4. 最终写入纹理