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解决掉矩形杂色问题，但是过渡有色差

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hesuicong committed 2026-10-16 11:04:26 +08:00
1 parent 05bae3ad90
commit b106a7976e
1 file changed
+234 -46
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libs/MVS/SceneTexture.cpp
+234 -46
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@@ -805,6 +805,11 @@ public:
Image8U3& atlas,
int textureSize);
void RunSeamLevelingOnAtlas(Image8U3& atlas, int textureSize);
void PropagateMainViews(
const VirtualFaceMap& virtualFaceMap,
const std::vector<std::vector<IIndex>>& virtualFaceViews,
const std::vector<std::vector<float>>& virtualFaceViewWeights,
std::vector<IIndex>& faceViewsHighFreq);
bool RasterizeVirtualFaces(
const VirtualFaceMap& virtualFaceMap,
const std::vector<std::vector<IIndex>>& virtualFaceViews,
@@ -812,7 +817,18 @@ public:
unsigned nTextureSizeMultiple,
Pixel8U colEmpty,
Mesh::Image8U3Arr& outTextures);
inline bool ComputeBarycentric(float u, float v,
const TexCoord& uv0, const TexCoord& uv1, const TexCoord& uv2,
float& b0, float& b1, float& b2) {
float denom = (uv1.x - uv0.x) * (uv2.y - uv0.y) - (uv1.y - uv0.y) * (uv2.x - uv0.x);
if (std::abs(denom) < 1e-12f) return false;
b1 = ((u - uv0.x) * (uv2.y - uv0.y) - (v - uv0.y) * (uv2.x - uv0.x)) / denom;
b2 = ((u - uv0.x) * (uv1.y - uv0.y) - (v - uv0.y) * (uv1.x - uv0.x)) / denom;
b2 = ((v - uv0.y) * (uv1.x - uv0.x) - (u - uv0.x) * (uv1.y - uv0.y)) / denom;
b0 = 1.0f - b1 - b2;
return (b0 >= -1e-4f && b1 >= -1e-4f && b2 >= -1e-4f);
}
cv::Mat GetHomographyForView(int virtualFaceIdx, IIndex viewId) const;
void BuildStandardSeamDataFromRCPatches(
@@ -16281,6 +16297,96 @@ cv::Mat MeshTexture::GetHomographyForView(int virtualFaceIdx, IIndex viewId) con
return cv::Mat();
}
// 在光栅化之前，添加这个函数来传播主视图
void MeshTexture::PropagateMainViews(
const VirtualFaceMap& virtualFaceMap,
const std::vector<std::vector<IIndex>>& virtualFaceViews,
const std::vector<std::vector<float>>& virtualFaceViewWeights,
std::vector<IIndex>& faceViewsHighFreq)
{
// 1. 构建虚拟面的邻接关系（通过共享原始三角面）
std::vector<std::set<FIndex>> faceAdjacency(virtualFaceMap.size());
// 建立：原始三角面 -> 包含它的虚拟面列表
std::map<FIndex, std::vector<size_t>> faceToVirtualFaces;
for (size_t i = 0; i < virtualFaceMap.size(); ++i) {
for (FIndex fi : virtualFaceMap[i].faces) {
faceToVirtualFaces[fi].push_back(i);
}
}
// 构建邻接：共享同一个原始三角面的两个虚拟面视为相邻
for (const auto& entry : faceToVirtualFaces) {
const auto& virtFaces = entry.second;
for (size_t a = 0; a < virtFaces.size(); ++a) {
for (size_t b = a + 1; b < virtFaces.size(); ++b) {
faceAdjacency[virtFaces[a]].insert((FIndex)virtFaces[b]);
faceAdjacency[virtFaces[b]].insert((FIndex)virtFaces[a]);
}
}
}
// 2. 贪心传播：从覆盖面积最大的虚拟面开始，让邻居跟随它的主视图
// 先按覆盖面积排序
std::vector<size_t> sortedIndices(virtualFaceMap.size());
std::iota(sortedIndices.begin(), sortedIndices.end(), 0);
// 计算每个虚拟面的覆盖面积（UV空间面积）
std::vector<double> faceAreas(virtualFaceMap.size(), 0);
for (size_t i = 0; i < virtualFaceMap.size(); ++i) {
const VirtualFaceGeometry& geom = m_virtualFaceGeometries[i];
if (geom.isValid) {
faceAreas[i] = (geom.uvBounds.ptMax.x() - geom.uvBounds.ptMin.x()) *
(geom.uvBounds.ptMax.y() - geom.uvBounds.ptMin.y());
}
}
std::sort(sortedIndices.begin(), sortedIndices.end(),
[&](size_t a, size_t b) { return faceAreas[a] > faceAreas[b]; });
// 3. 传播
std::vector<bool> visited(virtualFaceMap.size(), false);
std::queue<size_t> queue;
for (size_t startIdx : sortedIndices) {
if (visited[startIdx]) continue;
if (faceViewsHighFreq[startIdx] == NO_ID) continue;
// 从大面积的面开始BFS传播
visited[startIdx] = true;
queue.push(startIdx);
while (!queue.empty()) {
size_t cur = queue.front();
queue.pop();
IIndex curView = faceViewsHighFreq[cur];
for (FIndex neighborIdx : faceAdjacency[cur]) {
if (visited[neighborIdx]) continue;
// 检查邻居是否也能看到 curView
bool neighborCanUseCurView = false;
for (size_t vi = 0; vi < virtualFaceViews[neighborIdx].size(); ++vi) {
if (virtualFaceViews[neighborIdx][vi] == curView) {
neighborCanUseCurView = true;
break;
}
}
if (neighborCanUseCurView) {
// 强制邻居使用相同的主视图
faceViewsHighFreq[neighborIdx] = curView;
visited[neighborIdx] = true;
queue.push(neighborIdx);
}
}
}
}
DEBUG_EXTRA("Main view propagation done: %zu faces processed", virtualFaceMap.size());
}
bool MeshTexture::RasterizeVirtualFaces(
const VirtualFaceMap& virtualFaceMap,
const std::vector<std::vector<IIndex>>& virtualFaceViews,
@@ -16321,6 +16427,9 @@ bool MeshTexture::RasterizeVirtualFaces(
}
currentTextureSize = textureSize;
VERBOSE("[Raster] Propagating main views for consistency...");
PropagateMainViews(virtualFaceMap, virtualFaceViews, virtualFaceViewWeights, faceViewsHighFreq);
if (!m_gainsEstimated) EstimateGlobalPhotometricCorrection();
VERBOSE("[Raster] Step 2: starting patch loop, total faces=%zu", virtualFaceMap.size());
@@ -16333,6 +16442,22 @@ bool MeshTexture::RasterizeVirtualFaces(
}
}
// ★★★ 在循环外面预先计算全局 homography ★★★
cv::Mat globalH;
IIndex globalView = NO_ID;
for (int ii = 0; ii < (int)virtualFaceMap.size(); ++ii) {
const VirtualFaceGeometry& g = m_virtualFaceGeometries[ii];
if (g.isValid && !virtualFaceViews[ii].empty()) {
globalView = virtualFaceViews[ii][0];
auto it = g.viewHomographies.find(globalView);
if (it != g.viewHomographies.end()) {
globalH = it->second.clone();
break;
}
}
}
DEBUG_EXTRA("[TEST] Using global view %d for all faces", globalView);
// 3. 逐三角形光栅化（分频带合成版）
#ifdef _USE_OPENMP
#pragma omp parallel for schedule(dynamic)
@@ -16378,16 +16503,66 @@ bool MeshTexture::RasterizeVirtualFaces(
continue;
}
// ========== 构建主视图的映射 ==========
// ========== 用重心坐标 + 3D 投影替代 homography ==========
cv::Mat mapX(patchH, patchW, CV_32FC1), mapY(patchH, patchW, CV_32FC1);
const float* H = geom.homography.ptr<float>();
for (int y = minY; y <= maxY; ++y) {
for (int x = minX; x <= maxX; ++x) {
float u = (float)x / (float)textureSize, v = (float)y / (float)textureSize;
float w = H[6]*u + H[7]*v + H[8];
if (std::abs(w) < 1e-12f) { mapX.at<float>(y-minY,x-minX)=-1; mapY.at<float>(y-minY,x-minX)=-1; continue; }
mapX.at<float>(y-minY,x-minX) = (H[0]*u+H[1]*v+H[2])/w;
mapY.at<float>(y-minY,x-minX) = (H[3]*u+H[4]*v+H[5])/w;
mapX.setTo(-1);
mapY.setTo(-1);
// 获取该虚拟面对应的原始三角面
if (vf.faces.empty()) continue;
FIndex faceIdx = vf.faces[0];
const Face& face = scene.mesh.faces[faceIdx];
// 获取相机参数
const Camera& cam = images[mainView].camera;
bool camValid = (cam.K(0,0) > 0 && cam.K(1,1) > 0);
if (!camValid) {
// fallback 到 homography
const float* H = geom.homography.ptr<float>();
for (int y = minY; y <= maxY; ++y) {
for (int x = minX; x <= maxX; ++x) {
float u = (float)x / (float)textureSize, v = (float)y / (float)textureSize;
float w = H[6]*u + H[7]*v + H[8];
if (std::abs(w) < 1e-12f) { mapX.at<float>(y-minY,x-minX)=-1; mapY.at<float>(y-minY,x-minX)=-1; continue; }
mapX.at<float>(y-minY,x-minX) = (H[0]*u+H[1]*v+H[2])/w;
mapY.at<float>(y-minY,x-minX) = (H[3]*u+H[4]*v+H[5])/w;
}
}
} else {
// 提取 3D 顶点和 UV
Point3f v[3];
TexCoord uv[3];
for (int j = 0; j < 3; ++j) {
v[j] = scene.mesh.vertices[face[j]];
uv[j] = scene.mesh.faceTexcoords[faceIdx * 3 + j]; // 注意这里的索引方式
}
// 对 patch 内每个像素做重心坐标投影
for (int py = minY; py <= maxY; ++py) {
for (int px = minX; px <= maxX; ++px) {
float u = (float)px / (float)textureSize;
float v_coord = (float)py / (float)textureSize;
// 计算重心坐标
float b0, b1, b2;
if (!ComputeBarycentric(u, v_coord, uv[0], uv[1], uv[2], b0, b1, b2)) {
continue;
}
// 3D 插值点
Point3f P = v[0] * b0 + v[1] * b1 + v[2] * b2;
// 投影到图像
Point2f imgPt = cam.ProjectPointP(P);
// 检查是否在图像有效范围内
if (imgPt.x < 0 || imgPt.x >= images[mainView].image.cols ||
imgPt.y < 0 || imgPt.y >= images[mainView].image.rows) {
continue;
}
mapX.at<float>(py - minY, px - minX) = imgPt.x;
mapY.at<float>(py - minY, px - minX) = imgPt.y;
}
}
}
@@ -16395,38 +16570,16 @@ bool MeshTexture::RasterizeVirtualFaces(
cv::Mat mainPatch;
cv::remap(images[mainView].image, mainPatch, mapX, mapY, cv::INTER_LINEAR, cv::BORDER_CONSTANT, cv::Scalar(0,0,0));
// ========== 从辅助视图采样（各自用自己的 homography）==========
// ========== 从辅助视图采样（全部用主视图的映射）==========
cv::Mat lowFreqPatch(patchH, patchW, CV_32FC3, cv::Scalar(0,0,0));
if (hasLowFreqViews) {
float totalWeight = 0;
for (const auto& lfv : lowFreqViews) {
if (lfv.viewId >= (IIndex)images.size() || images[lfv.viewId].image.empty()) continue;
// ===== 获取该视图自己的 homography =====
const auto& geom = m_virtualFaceGeometries[i];
auto it = geom.viewHomographies.find(lfv.viewId);
if (it == geom.viewHomographies.end()) continue;
const cv::Mat& H_aux = it->second;
// ===== 用该视图的 homography 构建映射 =====
cv::Mat auxMapX(patchH, patchW, CV_32FC1), auxMapY(patchH, patchW, CV_32FC1);
const float* H = H_aux.ptr<float>();
for (int y = minY; y <= maxY; ++y) {
for (int x = minX; x <= maxX; ++x) {
float u = (float)x / (float)textureSize, v = (float)y / (float)textureSize;
float w = H[6]*u + H[7]*v + H[8];
if (std::abs(w) < 1e-12f) {
auxMapX.at<float>(y-minY,x-minX) = -1;
auxMapY.at<float>(y-minY,x-minX) = -1;
continue;
}
auxMapX.at<float>(y-minY,x-minX) = (H[0]*u+H[1]*v+H[2])/w;
auxMapY.at<float>(y-minY,x-minX) = (H[3]*u+H[4]*v+H[5])/w;
}
}
// ★★★ 所有视图都用主视图的 mapX/mapY，不再各自构建 homography ★★★
cv::Mat auxPatch;
cv::remap(images[lfv.viewId].image, auxPatch, auxMapX, auxMapY,
cv::remap(images[lfv.viewId].image, auxPatch, mapX, mapY,
cv::INTER_LINEAR, cv::BORDER_CONSTANT, cv::Scalar(0,0,0));
cv::Mat auxFloat;
@@ -16447,24 +16600,59 @@ bool MeshTexture::RasterizeVirtualFaces(
mainPatch.convertTo(mainFloat, CV_32FC3, 1.0f / 255.0f);
lowFreqPatch = mainFloat.clone();
}
// ========== 多视图高频混合 ==========
cv::Mat mainFloat;
mainPatch.convertTo(mainFloat, CV_32FC3, 1.0f / 255.0f);
// ========== 从主视图提取高频 ==========
// 对主视图做高斯模糊得到低频，然后相减得高频
cv::Mat mainFloat;
mainPatch.convertTo(mainFloat, CV_32FC3, 1.0f / 255.0f);
cv::Mat mainLowFreq;
cv::GaussianBlur(mainFloat, mainLowFreq, cv::Size(31, 31), 10.0); // σ=10
cv::Mat highFreq = mainFloat - mainLowFreq; // 高频 = 原图 - 低频
// 主视图高频
cv::Mat mainLowFreq;
cv::GaussianBlur(mainFloat, mainLowFreq, cv::Size(31, 31), 10.0);
cv::Mat highFreqAccum = (mainFloat - mainLowFreq) * 0.6f;
float highFreqTotalWeight = 0.6f;
// 辅助视图也贡献高频（也用主视图的 mapX/mapY）
if (hasLowFreqViews) {
for (const auto& lfv : lowFreqViews) {
if (lfv.viewId == mainView) continue;
if (lfv.viewId >= (IIndex)images.size() || images[lfv.viewId].image.empty()) continue;
// ★★★ 用主视图的 mapX/mapY（3D投影的那个），不是各视图自己的homography ★★★
cv::Mat auxPatch;
cv::remap(images[lfv.viewId].image, auxPatch, mapX, mapY,
cv::INTER_LINEAR, cv::BORDER_CONSTANT, cv::Scalar(0,0,0));
cv::Mat auxFloat;
auxPatch.convertTo(auxFloat, CV_32FC3, 1.0f / 255.0f);
cv::Mat auxLowFreq;
cv::GaussianBlur(auxFloat, auxLowFreq, cv::Size(31, 31), 10.0);
float auxWeight = lfv.weight * 0.4f;
highFreqAccum += (auxFloat - auxLowFreq) * auxWeight;
highFreqTotalWeight += auxWeight;
}
}
if (highFreqTotalWeight > 0) {
highFreqAccum /= highFreqTotalWeight;
}
cv::Mat highFreq = highFreqAccum;
// 在合成之前，对 lowFreqPatch 再做一次轻微平滑
cv::GaussianBlur(lowFreqPatch, lowFreqPatch, cv::Size(5, 5), 1.0);
// cv::GaussianBlur(lowFreqPatch, lowFreqPatch, cv::Size(5, 5), 1.0);
// ========== 合成：低频用多视图融合，高频用主视图细节 ==========
cv::Mat finalPatch = lowFreqPatch + highFreq;
// cv::Mat finalPatch = lowFreqPatch + highFreq;
// cv::Mat finalPatch = lowFreqPatch;
// cv::Mat finalPatch = highFreq.clone();
// finalPatch = cv::Mat::zeros(finalPatch.size(), finalPatch.type());
cv::Mat finalPatch = mainFloat; // 只用主视图
// cv::Mat finalPatch = lowFreqPatch * 0.3f + highFreq * 0.7f;
// 低频只做主视图，不做多视图平均（避免发灰）
// cv::Mat finalPatch = mainFloat * 0.7f + highFreq * 0.3f;
// 钳制到 [0, 1]
cv::Mat clampedPatch;