From 9e3c78c92e31c33684ab7215158eb8755cb61658 Mon Sep 17 00:00:00 2001 From: hesuicong Date: Tue, 20 Jan 2026 10:06:34 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A4=84=E7=90=86=E8=89=B2=E5=BD=A9=E6=96=91?= =?UTF-8?q?=E9=A9=B3=E7=9A=84=E9=97=AE=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- libs/MVS/SceneTexture.cpp | 461 ++++++++++++++++++++------------------ 1 file changed, 241 insertions(+), 220 deletions(-) diff --git a/libs/MVS/SceneTexture.cpp b/libs/MVS/SceneTexture.cpp index 3188b4b..c1c35d4 100644 --- a/libs/MVS/SceneTexture.cpp +++ b/libs/MVS/SceneTexture.cpp @@ -4301,10 +4301,9 @@ bool MeshTexture::CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataView } else { IIndexArr selectedCams = SelectBestViews(centerFaceDatas, virtualFaceCenterFaceID, minCommonCameras, ratioAngleToQuality); + //* // 获取中心面片的法线 (注意变量名是 normalCenter, 不是 centerNormal) const Normal& normalCenter = scene.mesh.faceNormals[virtualFaceCenterFaceID]; - - //* // 过滤selectedCams：只保留夹角小于30度的视图 IIndexArr filteredCams; // 用于存储过滤后的视图索引 for (IIndex idxView : selectedCams) { @@ -4360,220 +4359,52 @@ bool MeshTexture::CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataView if (angleDeg <= 45.0f) { - filteredCams.push_back(idxView); - - // float brightnessScore = CalculateBrightnessScore(imageData); // 亮度评分函数 - // float angleScore = 1.0f - (angleDeg / 45.0f); - // float qualityScore = 0.0f; - // const FaceDataArr& centerFaceDatas = facesDatas[virtualFaceCenterFaceID]; - // for (const FaceData& fd : centerFaceDatas) { - // if (fd.idxView == idxView) { - // qualityScore = fd.quality; - // break; - // } - // } - // qualityScore = std::max(0.0f, std::min(1.0f, qualityScore)); - // float overallScore = 0.5f * angleScore + 0.3f * brightnessScore + 0.2f * qualityScore; - // if (overallScore > 0.35f) { - // filteredCams.push_back(idxView); - // } + // filteredCams.push_back(idxView); + //* + float brightnessScore = CalculateBrightnessScore(imageData); // 亮度评分函数 + float angleScore = 1.0f - (angleDeg / 45.0f); + float qualityScore = 0.0f; + const FaceDataArr& centerFaceDatas = facesDatas[virtualFaceCenterFaceID]; + for (const FaceData& fd : centerFaceDatas) { + if (fd.idxView == idxView) { + qualityScore = fd.quality; + break; + } + } + qualityScore = std::max(0.0f, std::min(1.0f, qualityScore)); + float overallScore = 0.5f * angleScore + 0.3f * brightnessScore + 0.2f * qualityScore; + if (overallScore > 0.2f) { + filteredCams.push_back(idxView); + } + //*/ } + } else { - filteredCams.push_back(idxView); - - // float brightnessScore = CalculateBrightnessScore(imageData); // 亮度评分函数 - // float angleScore = 1.0f - (angleDeg / 45.0f); - // float qualityScore = 0.0f; - // const FaceDataArr& centerFaceDatas = facesDatas[virtualFaceCenterFaceID]; - // for (const FaceData& fd : centerFaceDatas) { - // if (fd.idxView == idxView) { - // qualityScore = fd.quality; - // break; - // } - // } - // qualityScore = std::max(0.0f, std::min(1.0f, qualityScore)); - // float overallScore = 0.5f * angleScore + 0.3f * brightnessScore + 0.2f * qualityScore; - // if (overallScore > 0.35f) { - // filteredCams.push_back(idxView); - // } - } - } - } - //*/ - - /* - - struct CameraInfo { - float brightness; - float angleDeg; - float qualityScore; - bool isEdge; - }; - // 修改后的代码，使用亮度统计分布过滤异常值 - IIndexArr filteredCams; // 用于存储过滤后的视图索引 - - // 步骤1: 收集所有候选相机的亮度值 - std::vector allBrightnessScores; - std::vector> cameraInfos; // 存储相机ID和相关信息 + // filteredCams.push_back(idxView); - for (IIndex idxView : selectedCams) { - const Image& imageData = images[idxView]; - - // 计算相机朝向向量 - const RMatrix& R = imageData.camera.R; - Point3f localForward(0.0f, 0.0f, -1.0f); - Point3f cameraForward; - cameraForward.x = R(0,0) * localForward.x + R(0,1) * localForward.y + R(0,2) * localForward.z; - cameraForward.y = R(1,0) * localForward.x + R(1,1) * localForward.y + R(1,2) * localForward.z; - cameraForward.z = R(2,0) * localForward.x + R(2,1) * localForward.y + R(2,2) * localForward.z; - - // 归一化 - float norm = std::sqrt(cameraForward.x * cameraForward.x + - cameraForward.y * cameraForward.y + - cameraForward.z * cameraForward.z); - if (norm > 0.0f) { - cameraForward.x /= norm; - cameraForward.y /= norm; - cameraForward.z /= norm; - } else { - cameraForward = Point3f(0, 0, -1); - } - - // 计算夹角 - Point3f normalPoint(normalCenter.x, normalCenter.y, normalCenter.z); - float cosAngle = cameraForward.dot(normalPoint); - float angleDeg = std::acos(cosAngle) * 180.0f / M_PI; - - // 计算亮度分数 - float brightnessScore = CalculateBrightnessScore(imageData); - allBrightnessScores.push_back(brightnessScore); - - // 获取质量分数 - float qualityScore = 0.0f; - const FaceDataArr& centerFaceDatas = facesDatas[virtualFaceCenterFaceID]; - for (const FaceData& fd : centerFaceDatas) { - if (fd.idxView == idxView) { - qualityScore = fd.quality; - break; - } - } - qualityScore = std::max(0.0f, std::min(1.0f, qualityScore)); - - // 检查是否为边缘 - std::string strPath = imageData.name; - size_t lastSlash = strPath.find_last_of("/\\"); - if (lastSlash == std::string::npos) lastSlash = 0; - else lastSlash++; - - size_t lastDot = strPath.find_last_of('.'); - if (lastDot == std::string::npos) lastDot = strPath.size(); - - std::string strName = strPath.substr(lastSlash, lastDot - lastSlash); - - bool isEdge = false; - if (!scene.is_face_delete_edge(strName, virtualFaceCenterFaceID)) { - isEdge = scene.is_face_edge(strName, virtualFaceCenterFaceID); - } - - // 存储相机信息 - cameraInfos.emplace_back(idxView, CameraInfo{ - .brightness = brightnessScore, - .angleDeg = angleDeg, - .qualityScore = qualityScore, - .isEdge = isEdge - }); - } - - float medianBrightness = 0.0f; - // 步骤2: 计算亮度分布的统计特征 - if (!allBrightnessScores.empty()) { - // 方法1: 使用中位数和MAD（绝对中位差） - 对异常值更鲁棒 - std::vector sortedBrightness = allBrightnessScores; - std::sort(sortedBrightness.begin(), sortedBrightness.end()); - - medianBrightness = sortedBrightness[sortedBrightness.size() / 2]; - - // 计算MAD - std::vector deviations; - for (float brightness : allBrightnessScores) { - deviations.push_back(std::abs(brightness - medianBrightness)); - } - std::sort(deviations.begin(), deviations.end()); - float mad = deviations[deviations.size() / 2]; - - // 使用3倍MAD作为阈值（通常2-3倍MAD是常用阈值） - float lowerThreshold = medianBrightness - 2.5f * mad; - float upperThreshold = medianBrightness + 2.5f * mad; - - // 方法2: 使用四分位距(IQR) - 备选方法 - if (sortedBrightness.size() >= 4) { - int q1_index = sortedBrightness.size() / 4; - int q3_index = 3 * sortedBrightness.size() / 4; - float q1 = sortedBrightness[q1_index]; - float q3 = sortedBrightness[q3_index]; - float iqr = q3 - q1; - - // 使用1.5倍IQR规则 - float iqrLower = q1 - 1.5f * iqr; - float iqrUpper = q3 + 1.5f * iqr; - - // 也可以结合两种方法 - lowerThreshold = std::max(lowerThreshold, iqrLower); - upperThreshold = std::min(upperThreshold, iqrUpper); - } - - // 步骤3: 根据统计特征过滤相机 - for (const auto& [idxView, info] : cameraInfos) { - // 检查亮度是否在正常范围内 - if (info.brightness < lowerThreshold || info.brightness > upperThreshold) { - // printf("过滤相机 %d: 亮度 %.3f 超出范围 [%.3f, %.3f]\n", - // idxView, info.brightness, lowerThreshold, upperThreshold); - continue; - } - - // 根据是否为边缘面使用不同的参数 - float angleLimit = info.isEdge ? 45.0f : 60.0f; - float scoreThreshold = info.isEdge ? 0.4f : 0.3f; - - if (info.angleDeg <= angleLimit) { - float angleScore = 1.0f - (info.angleDeg / angleLimit); - float overallScore = 0.5f * angleScore + 0.3f * info.brightness + 0.2f * info.qualityScore; - - if (overallScore > scoreThreshold) { + //* + float brightnessScore = CalculateBrightnessScore(imageData); // 亮度评分函数 + float angleScore = 1.0f - (angleDeg / 45.0f); + float qualityScore = 0.0f; + const FaceDataArr& centerFaceDatas = facesDatas[virtualFaceCenterFaceID]; + for (const FaceData& fd : centerFaceDatas) { + if (fd.idxView == idxView) { + qualityScore = fd.quality; + break; + } + } + qualityScore = std::max(0.0f, std::min(1.0f, qualityScore)); + float overallScore = 0.5f * angleScore + 0.3f * brightnessScore + 0.2f * qualityScore; + if (overallScore > 0.2f) { filteredCams.push_back(idxView); } + //*/ } } } - // 如果没有足够的相机满足统计条件，可以放宽阈值或使用原始方法 - if (filteredCams.size() < 3 && !cameraInfos.empty()) { - // 回退到简单方法：选择亮度最接近中位数的前N个相机 - std::vector> brightnessDifferences; - - for (const auto& cameraInfoPair : cameraInfos) { - IIndex idxView = cameraInfoPair.first; - CameraInfo info = cameraInfoPair.second; - if (info.isEdge ? (info.angleDeg <= 45.0f) : (info.angleDeg <= 60.0f)) { - // 计算亮度与中位数的差异 - float brightnessDiff = std::abs(info.brightness - medianBrightness); - brightnessDifferences.emplace_back(idxView, brightnessDiff); - } - } - - // 按亮度差异排序，选择差异最小的 - std::sort(brightnessDifferences.begin(), brightnessDifferences.end(), - [](const auto& a, const auto& b) { return a.second < b.second; }); - - int neededCount = std::min(5, (int)brightnessDifferences.size()); - for (int i = 0; i < neededCount; i++) { - filteredCams.push_back(brightnessDifferences[i].first); - } - } - //*/ - // 确保 selectedCams 是非 const 的，才能对其进行赋值 // 例如，其声明应为：IIndexArr selectedCams = ...; (不能是 const IIndexArr) if (filteredCams.empty()) { @@ -4588,6 +4419,7 @@ bool MeshTexture::CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataView selectedCams = filteredCams; isVirtualFace[virtualFaceCenterFaceID] = true; } + //*/ currentVirtualFaceQueue.AddTail(virtualFaceCenterFaceID); queuedFaces.clear(); @@ -4641,6 +4473,7 @@ bool MeshTexture::CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataView } } while (!currentVirtualFaceQueue.IsEmpty()); + // compute virtual face quality and create virtual face for (IIndex idxView: selectedCams) { FaceData& virtualFaceData = virtualFaceDatas.emplace_back(); virtualFaceData.quality = 0; @@ -4648,30 +4481,218 @@ bool MeshTexture::CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataView #if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA virtualFaceData.color = Point3f::ZERO; #endif + int invalidQuality = 0; + Color invalidColor = Point3f::ZERO; unsigned processedFaces(0); bool bInvalidFacesRelative = false; int invalidCount = 0; for (FIndex fid : virtualFace) { const FaceDataArr& faceDatas = facesDatas[fid]; for (FaceData& faceData: faceDatas) { - if (faceData.idxView == idxView) { - virtualFaceData.quality += faceData.quality; - #if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA - virtualFaceData.color += faceData.color; - #endif - ++processedFaces; - if (faceData.bInvalidFacesRelative) - ++invalidCount; - break; + + int nViewCount = 0; + if (faceData.idxView == idxView) + { + for (const FaceData& fd : faceDatas) + { + if ( faceData.bInvalidFacesRelative) + { + ++nViewCount; + } + } + // if (faceData.bInvalidFacesRelative) + if (bHasInvalidView) + { + // invalidQuality += faceData.quality; + // #if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA + // invalidColor += faceData.color; + // #endif + + ++processedFaces; + } + else + { + // virtualFaceData.quality += faceData.quality; + #if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA + // virtualFaceData.color += faceData.color; + #endif + ++processedFaces; + // break; + } } } } - ASSERT(processedFaces > 0); - virtualFaceData.quality /= processedFaces; - #if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA - virtualFaceData.color /= processedFaces; - #endif - virtualFaceData.bInvalidFacesRelative = (invalidCount > processedFaces / 2); + + float maxLuminance = 120.0f; + float minLuminance = 90.0f; + int validViewsSize = validViews.size(); + // bHasInvalidView = true; + if (bHasInvalidView) + { + // 使用鲁棒的统计方法计算颜色和亮度的中心值 + const Color medianColor = ComputeMedianColorAndQuality(sortedViews).color; + const float medianQuality = ComputeMedianColorAndQuality(sortedViews).quality; + const float medianLuminance = ComputeMedianLuminance(sortedViews); + + // 计算颜色和亮度的绝对中位差(MAD)作为偏差阈值 + const float colorMAD = ComputeColorMAD(sortedViews, medianColor); + const float luminanceMAD = ComputeLuminanceMAD(sortedViews, medianLuminance); + + // 基于MAD设置动态阈值（3倍MAD是统计学上常用的异常值阈值） + const float maxColorDeviation = 0.01f * colorMAD; + const float maxLuminanceDeviation = 0.01f * luminanceMAD; + + std::vector validIndices; + for (int n = 0; n < sortedViews.size(); ++n) { + const Color& viewColor = sortedViews[n].second; + const float viewLuminance = MeshTexture::GetLuminance(viewColor); + + const float colorDistance = cv::norm(viewColor - medianColor); + const float luminanceDistance = std::abs(viewLuminance - medianLuminance); + + if (colorDistance <= maxColorDeviation && + luminanceDistance <= maxLuminanceDeviation) + { + validIndices.push_back(n); + } + else + { + const FIndex currentFaceId = currentVirtualFaceQueue.GetHead(); + const Normal& faceNormal = scene.mesh.faceNormals[currentFaceId]; + const float cosFaceToCenter(ComputeAngleN(normalCenter.ptr(), faceNormal.ptr())); + + bool bColorSimilarity = true; + // Check color similarity + const Color& centerColor = faceColors[virtualFaceCenterFaceID]; + const Color& currentColor = faceColors[currentFaceId]; + + float colorDistance = cv::norm(centerColor - currentColor); + // printf("1colorDistance=%f\n", colorDistance); + if (colorDistance > thMaxColorDeviation) { + // printf("2colorDistance=%f\n", colorDistance); + bColorSimilarity = false; + } + + // if ((cosFaceToCenter 0); + // virtualFaceData.quality /= processedFaces; + #if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA + // virtualFaceData.color /= processedFaces; + #endif + + virtualFaceData.quality = 0; + #if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA + virtualFaceData.color = Point3f::ZERO; + #endif + } + } + else + { + // 使用鲁棒的统计方法计算颜色和亮度的中心值 + const Color medianColor = ComputeMedianColorAndQuality(sortedViews).color; + const float medianQuality = ComputeMedianColorAndQuality(sortedViews).quality; + const float medianLuminance = ComputeMedianLuminance(sortedViews); + + // 计算颜色和亮度的绝对中位差(MAD)作为偏差阈值 + const float colorMAD = ComputeColorMAD(sortedViews, medianColor); + const float luminanceMAD = ComputeLuminanceMAD(sortedViews, medianLuminance); + + // 基于MAD设置动态阈值（3倍MAD是统计学上常用的异常值阈值） + const float maxColorDeviation = 0.01f * colorMAD; + // const float maxLuminanceDeviation = 0.01f * luminanceMAD; + const float maxLuminanceDeviation = 0.05f * luminanceMAD; + + std::vector validIndices; + for (int n = 0; n < sortedViews.size(); ++n) { + const Color& viewColor = sortedViews[n].second; + const float viewLuminance = MeshTexture::GetLuminance(viewColor); + + const float colorDistance = cv::norm(viewColor - medianColor); + const float luminanceDistance = std::abs(viewLuminance - medianLuminance); + + // if (colorDistance <= maxColorDeviation && + // luminanceDistance <= maxLuminanceDeviation) + // if (luminanceDistance <= maxLuminanceDeviation) + { + validIndices.push_back(n); + } + } + + if (validIndices.empty()) { + + virtualFaceData.quality = medianQuality; + virtualFaceData.color = medianColor; + } + else { + // 使用过滤后的视图重新计算平均值 + float totalQuality2 = 0.0f; + Color totalColor2 = Color(0,0,0); + for (int idx : validIndices) { + totalQuality2 += validViews[idx].first; + totalColor2 += validViews[idx].second; + } + virtualFaceData.quality = totalQuality2 / validIndices.size(); + virtualFaceData.color = totalColor2 / validIndices.size(); + } + } + + // virtualFaceData.bInvalidFacesRelative = (invalidCount > 1); + // virtualFaceData.bInvalidFacesRelative = (invalidCount > processedFaces * 2 / 3); } ASSERT(!virtualFaceDatas.empty()); }