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通过编译，但是有白平衡问题

ManualUV
hesuicong 2 weeks ago
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c38456c7b4
1 changed files with 110 additions and 44 deletions
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  1. 150
      libs/MVS/SceneTexture.cpp

150
libs/MVS/SceneTexture.cpp
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@ -601,6 +601,7 @@ public:
Pixel8U colEmpty, Pixel8U colEmpty,
float fSharpnessWeight float fSharpnessWeight
); );
cv::Vec3b ConvertBGRtoRGBIfNeeded(const cv::Vec3b& bgrColor);
Point2f ProjectPointWithAutoCorrection(const Camera& camera, const Vertex& worldPoint, const Image& sourceImage); Point2f ProjectPointWithAutoCorrection(const Camera& camera, const Vertex& worldPoint, const Image& sourceImage);
Point2f ProjectPointRobust(const Camera& camera, const Vertex& worldPoint, const Image& sourceImage, float searchRadius = 0.02f); Point2f ProjectPointRobust(const Camera& camera, const Vertex& worldPoint, const Image& sourceImage, float searchRadius = 0.02f);
bool ValidateProjection(const Vertex& worldPoint, const Image& sourceImage, Point2f imgPoint, float maxReprojectionError = 1.5f); bool ValidateProjection(const Vertex& worldPoint, const Image& sourceImage, Point2f imgPoint, float maxReprojectionError = 1.5f);
@ -13737,10 +13738,18 @@ Mesh::Image8U3Arr MeshTexture::GenerateTextureAtlasWith3DBridge(
const float uvHeight = uvBounds.ptMax.y() - uvBounds.ptMin.y(); const float uvHeight = uvBounds.ptMax.y() - uvBounds.ptMin.y();
const int textureSize = ComputeOptimalTextureSize(uvWidth, uvHeight, nTextureSizeMultiple); const int textureSize = ComputeOptimalTextureSize(uvWidth, uvHeight, nTextureSizeMultiple);
// 创建目标纹理 // 创建目标纹理
Mesh::Image8U3Arr textures; Mesh::Image8U3Arr textures;
Image8U3& textureAtlas = textures.emplace_back(textureSize, textureSize); Image8U3& textureAtlas = textures.emplace_back(textureSize, textureSize);
// 注意：cv::Scalar 使用 BGR 顺序
// 修正1: 明确颜色通道顺序
// Pixel8U通常是RGB顺序，OpenCV使用BGR，我们需要保持一致
// 这里明确指定RGB顺序
DEBUG_EXTRA("设置背景色: RGB(%d,%d,%d) -> BGR(%d,%d,%d)",
colEmpty.r, colEmpty.g, colEmpty.b,
colEmpty.b, colEmpty.g, colEmpty.r);
// 使用BGR顺序（OpenCV默认）
textureAtlas.setTo(cv::Scalar(colEmpty.b, colEmpty.g, colEmpty.r)); textureAtlas.setTo(cv::Scalar(colEmpty.b, colEmpty.g, colEmpty.r));
DEBUG_EXTRA("生成纹理图集: 尺寸=%dx%d, UV范围=[%.3f,%.3f]-[%.3f,%.3f]", DEBUG_EXTRA("生成纹理图集: 尺寸=%dx%d, UV范围=[%.3f,%.3f]-[%.3f,%.3f]",
@ -13748,17 +13757,30 @@ Mesh::Image8U3Arr MeshTexture::GenerateTextureAtlasWith3DBridge(
uvBounds.ptMin.x(), uvBounds.ptMin.y(), uvBounds.ptMin.x(), uvBounds.ptMin.y(),
uvBounds.ptMax.x(), uvBounds.ptMax.y()); uvBounds.ptMax.x(), uvBounds.ptMax.y());
// 添加调试信息 // 添加颜色通道调试
DEBUG_EXTRA("colEmpty: R=%d, G=%d, B=%d", colEmpty.r, colEmpty.g, colEmpty.b); DEBUG_EXTRA("颜色通道配置:");
DEBUG_EXTRA("OpenCV图像通道顺序: BGR"); DEBUG_EXTRA(" - colEmpty: R=%d, G=%d, B=%d", colEmpty.r, colEmpty.g, colEmpty.b);
DEBUG_EXTRA(" - OpenCV通道顺序: BGR");
// 检查颜色通道顺序 // 检查源纹理颜色通道顺序
if (!sourceTextures.empty()) { if (!sourceTextures.empty()) {
const Image8U3& firstTex = sourceTextures[0]; const Image8U3& firstTex = sourceTextures[0];
if (!firstTex.empty()) {
cv::Vec3b firstPixel = firstTex.at<cv::Vec3b>(0, 0); cv::Vec3b firstPixel = firstTex.at<cv::Vec3b>(0, 0);
DEBUG_EXTRA("源纹理第一个像素: B=%d, G=%d, R=%d", DEBUG_EXTRA("源纹理[0]第一个像素: B=%d, G=%d, R=%d (OpenCV BGR顺序)",
firstPixel[0], firstPixel[1], firstPixel[2]);
}
}
// 检查images中的颜色通道
if (!images.empty()) {
const Image& firstImg = images[0];
if (!firstImg.image.empty()) {
cv::Vec3b firstPixel = firstImg.image.at<cv::Vec3b>(0, 0);
DEBUG_EXTRA("images[0]第一个像素: B=%d, G=%d, R=%d (OpenCV BGR顺序)",
firstPixel[0], firstPixel[1], firstPixel[2]); firstPixel[0], firstPixel[1], firstPixel[2]);
} }
}
// 3. 统计信息 // 3. 统计信息
int processedFaces = 0; int processedFaces = 0;
@ -13787,17 +13809,7 @@ Mesh::Image8U3Arr MeshTexture::GenerateTextureAtlasWith3DBridge(
// 获取面的几何信息 // 获取面的几何信息
const TexCoord* meshUVs = &scene.mesh.faceTexcoords[faceID * 3]; const TexCoord* meshUVs = &scene.mesh.faceTexcoords[faceID * 3];
const Face& face = scene.mesh.faces[faceID]; const Face& face = scene.mesh.faces[faceID];
const Image& sourceImage = images[idxView];
// 获取源纹理信息
const TexCoord* srcUVs = &sourceTexcoords[faceID * 3];
const TexIndex textureIdx = sourceTexindices.empty() ? 0 : sourceTexindices[faceID];
if (textureIdx >= sourceTextures.size()) {
failedFaces++;
continue;
}
const Image8U3& sourceTexture = sourceTextures[textureIdx];
// 计算面的UV边界 // 计算面的UV边界
AABB2f faceBounds(true); AABB2f faceBounds(true);
@ -13841,19 +13853,23 @@ Mesh::Image8U3Arr MeshTexture::GenerateTextureAtlasWith3DBridge(
vertices[face[1]] * barycentric.y + vertices[face[1]] * barycentric.y +
vertices[face[2]] * barycentric.z; vertices[face[2]] * barycentric.z;
// 方案A：从原始图像采样 // 从原始图像采样
Point2f imgPoint = ProjectPointWithAutoCorrection(images[idxView].camera, worldPoint, images[idxView]); Point2f imgPoint = sourceImage.camera.ProjectPointP(worldPoint);
// 确保在图像范围内
imgPoint.x = CLAMP(imgPoint.x, 0.0f, (float)(sourceImage.image.cols - 1));
imgPoint.y = CLAMP(imgPoint.y, 0.0f, (float)(sourceImage.image.rows - 1));
if (imgPoint.x < 0 || imgPoint.x >= images[idxView].image.cols || if (imgPoint.x < 0 || imgPoint.x >= sourceImage.image.cols ||
imgPoint.y < 0 || imgPoint.y >= images[idxView].image.rows) { imgPoint.y < 0 || imgPoint.y >= sourceImage.image.rows) {
continue; continue;
} }
// 修正：使用双线性插值采样 // 双线性插值采样
const int x0 = (int)floor(imgPoint.x); const int x0 = (int)imgPoint.x;
const int y0 = (int)floor(imgPoint.y); const int y0 = (int)imgPoint.y;
const int x1 = std::min(x0 + 1, images[idxView].image.cols - 1); const int x1 = std::min(x0 + 1, sourceImage.image.cols - 1);
const int y1 = std::min(y0 + 1, images[idxView].image.rows - 1); const int y1 = std::min(y0 + 1, sourceImage.image.rows - 1);
const float fx = imgPoint.x - x0; const float fx = imgPoint.x - x0;
const float fy = imgPoint.y - y0; const float fy = imgPoint.y - y0;
@ -13861,30 +13877,39 @@ Mesh::Image8U3Arr MeshTexture::GenerateTextureAtlasWith3DBridge(
const float fy1 = 1.0f - fy; const float fy1 = 1.0f - fy;
// 采样四个点的颜色 // 采样四个点的颜色
const cv::Vec3b& c00 = images[idxView].image.at<cv::Vec3b>(y0, x0); const cv::Vec3b& c00 = sourceImage.image.at<cv::Vec3b>(y0, x0);
const cv::Vec3b& c01 = images[idxView].image.at<cv::Vec3b>(y0, x1); const cv::Vec3b& c01 = sourceImage.image.at<cv::Vec3b>(y0, x1);
const cv::Vec3b& c10 = images[idxView].image.at<cv::Vec3b>(y1, x0); const cv::Vec3b& c10 = sourceImage.image.at<cv::Vec3b>(y1, x0);
const cv::Vec3b& c11 = images[idxView].image.at<cv::Vec3b>(y1, x1); const cv::Vec3b& c11 = sourceImage.image.at<cv::Vec3b>(y1, x1);
// 双线性插值 // 双线性插值
const cv::Vec3b color = cv::Vec3b sampledColor =
c00 * (fx1 * fy1) + c00 * (fx1 * fy1) +
c01 * (fx * fy1) + c01 * (fx * fy1) +
c10 * (fx1 * fy) + c10 * (fx1 * fy) +
c11 * (fx * fy); c11 * (fx * fy);
// 注意：OpenCV是BGR顺序，而Pixel8U通常是RGB顺序 // 修正2: 统一颜色通道处理
// 这里我们需要确保颜色通道正确 // 方法1: 保持BGR顺序（与OpenCV一致）
// 如果最终显示为RGB，则需要在显示时转换
// 方法2: 转换为RGB顺序存储
cv::Vec3b finalColor = ConvertBGRtoRGBIfNeeded(sampledColor);
#ifdef _USE_OPENMP #ifdef _USE_OPENMP
#pragma omp critical #pragma omp critical
#endif #endif
{ {
// 方案1：直接使用BGR顺序（OpenCV默认） // 使用转换后的颜色
// textureAtlas.at<cv::Vec3b>(y, x) = color; textureAtlas.at<cv::Vec3b>(y, x) = finalColor;
// 方案2：交换B和R通道（如果颜色偏蓝，说明B和R反了） // 调试：记录前几个像素的颜色
// 将BGR转换为RGB if (processedFaces == 0 && faceSampledPixels < 3) {
textureAtlas.at<cv::Vec3b>(y, x) = cv::Vec3b(color[2], color[1], color[0]); DEBUG_EXTRA("像素[%d,%d] 颜色: 源图像BGR=(%d,%d,%d), 目标RGB=(%d,%d,%d)",
x, y,
sampledColor[0], sampledColor[1], sampledColor[2],
finalColor[0], finalColor[1], finalColor[2]);
}
} }
faceSampledPixels++; faceSampledPixels++;
@ -13904,17 +13929,58 @@ Mesh::Image8U3Arr MeshTexture::GenerateTextureAtlasWith3DBridge(
// 5. 填充空洞 // 5. 填充空洞
if (processedFaces > 0 && sampledPixels > 0) { if (processedFaces > 0 && sampledPixels > 0) {
// FillTextureGaps(textureAtlas, scene.mesh.faceTexcoords, (FIndex)scene.mesh.faces.size(), textureSize, colEmpty); // FillTextureGapsWithColorCorrection(textureAtlas, scene.mesh.faceTexcoords,
// (FIndex)scene.mesh.faces.size(), textureSize, colEmpty);
} }
// 6. 锐化处理 // 6. 锐化处理
if (fSharpnessWeight > 0) { if (fSharpnessWeight > 0 && sampledPixels > 0) {
// ApplySharpening(textureAtlas, fSharpnessWeight); // ApplySharpeningWithColorBalance(textureAtlas, fSharpnessWeight);
}
// 7. 最终颜色检查
if (!textureAtlas.empty()) {
cv::Scalar mean = cv::mean(textureAtlas);
DEBUG_EXTRA("最终纹理平均颜色: B=%.1f, G=%.1f, R=%.1f",
mean[0], mean[1], mean[2]);
// 检查颜色通道
int rgbCount[3] = {0, 0, 0};
int totalSamples = 0;
for (int y = 0; y < textureAtlas.rows && y < 10; y++) {
for (int x = 0; x < textureAtlas.cols && x < 10; x++) {
cv::Vec3b pixel = textureAtlas.at<cv::Vec3b>(y, x);
if (pixel != cv::Vec3b(colEmpty.b, colEmpty.g, colEmpty.r)) {
rgbCount[0] += pixel[0];
rgbCount[1] += pixel[1];
rgbCount[2] += pixel[2];
totalSamples++;
}
}
}
if (totalSamples > 0) {
DEBUG_EXTRA("前10x10像素平均颜色: B=%d, G=%d, R=%d",
rgbCount[0]/totalSamples, rgbCount[1]/totalSamples, rgbCount[2]/totalSamples);
}
} }
return textures; return textures;
} }
cv::Vec3b MeshTexture::ConvertBGRtoRGBIfNeeded(const cv::Vec3b& bgrColor) {
// 根据配置决定是否转换
// 如果OpenCV图像是BGR顺序，而我们希望存储为RGB，则交换B和R
static bool bConvertBGRtoRGB = true; // 可根据需要调整
if (bConvertBGRtoRGB) {
return cv::Vec3b(bgrColor[2], bgrColor[1], bgrColor[0]); // BGR->RGB
} else {
return bgrColor; // 保持BGR
}
}
Point2f MeshTexture::ProjectPointWithAutoCorrection(const Camera& camera, const Vertex& worldPoint, const Image& sourceImage) { Point2f MeshTexture::ProjectPointWithAutoCorrection(const Camera& camera, const Vertex& worldPoint, const Image& sourceImage) {
Point2f imgPoint = camera.ProjectPointP(worldPoint); Point2f imgPoint = camera.ProjectPointP(worldPoint);

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