解决缝隙问题

libs/MVS/SceneTexture.cpp

@@ -16416,6 +16416,10 @@ bool MeshTexture::RasterizeVirtualFaces(
     outTextures.emplace_back(textureSize, textureSize);
     Image8U3& atlas = outTextures.back();
     atlas.setTo(cv::Scalar(colEmpty.b, colEmpty.g, colEmpty.r));
+
+	// Pixel8U emptyMarker(255, 0, 255);  // BGR: (255, 0, 255) → 品红
+	// atlas.setTo(cv::Scalar(emptyMarker.b, emptyMarker.g, emptyMarker.r));
+
     m_texelScores.assign(textureSize * textureSize, TexelScore{});
     m_texelPatchID.assign(textureSize * textureSize, NO_ID);
 
@@ -16543,11 +16547,16 @@ bool MeshTexture::RasterizeVirtualFaces(
                     float u = (float)px / (float)textureSize;
                     float v_coord = (float)py / (float)textureSize;
                     
-                    // 计算重心坐标
+					// 计算重心坐标
-                    float b0, b1, b2;
+					float b0, b1, b2;
-                    if (!ComputeBarycentric(u, v_coord, uv[0], uv[1], uv[2], b0, b1, b2)) {
+					bool inside = ComputeBarycentric(u, v_coord, uv[0], uv[1], uv[2], b0, b1, b2);
-                        continue;
+
-                    }
+					// // 统一用宽松容差判断
+					// const float EPS_BARY = 1e-2f;
+					// if (b0 < -EPS_BARY || b1 < -EPS_BARY || b2 < -EPS_BARY) {
+					// 	continue; // 真正不在三角形内
+					// }
+					// // 否则继续执行（即使 ComputeBarycentric 返回 false，但坐标只是略微越界）
                     
                     // 3D 插值点
                     Point3f P = v[0] * b0 + v[1] * b1 + v[2] * b2;
@@ -16611,10 +16620,15 @@ bool MeshTexture::RasterizeVirtualFaces(
 							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)) {
+							bool inside = ComputeBarycentric(u, v_coord, uv[0], uv[1], uv[2], b0, b1, b2);
-								continue;
+
-							}
+							// // 统一用宽松容差判断
+							// const float EPS_BARY = 1e-2f;
+							// if (b0 < -EPS_BARY || b1 < -EPS_BARY || b2 < -EPS_BARY) {
+							// 	continue; // 真正不在三角形内
+							// }
 							
 							Point3f P = v[0] * b0 + v[1] * b1 + v[2] * b2;
 							
@@ -16719,7 +16733,17 @@ bool MeshTexture::RasterizeVirtualFaces(
 		}
  
 		// 再与 mainFloat 混合（低频占主导，主视图补充细节）
-		cv::Mat finalPatch = filledLowFreq * 0.7f + mainFloat * 0.3f;
+		// cv::Mat finalPatch = filledLowFreq * 0.7f + mainFloat * 0.3f;
+		// cv::Mat finalPatch = filledLowFreq * 0.85f + highFreq * 0.15f;
+        
+		// 对高频做 soft clamp，防止个别极端值拉白发白
+		cv::Mat highFreqClamped;
+		cv::max(highFreq, -0.2f, highFreqClamped);
+		cv::min(highFreqClamped, 0.2f, highFreqClamped);
+
+		cv::Mat finalPatch = filledLowFreq * 0.8f + highFreqClamped * 0.2f;
+		// cv::Mat finalPatch = mainFloat;
+		// cv::Mat finalPatch = lowFreqPatch;
 
         // 钳制到 [0, 1]
         cv::Mat clampedPatch;
@@ -16737,7 +16761,9 @@ bool MeshTexture::RasterizeVirtualFaces(
 				for (int x = 0; x < patchW; ++x) {
 					cv::Vec3b color = finalPatch8U.at<cv::Vec3b>(y, x);
 					
-					if (color[0] == 0 && color[1] == 0 && color[2] == 0) continue;
+					float mx = mapX.at<float>(y, x);
+					float my = mapY.at<float>(y, x);
+					if (mx < 0 || my < 0) continue; // 真正的空洞才跳过
 
 					int atlasX = x + minX, atlasY = y + minY;
 					if (atlasX<0||atlasX>=textureSize||atlasY<0||atlasY>=textureSize) continue;
@@ -16757,14 +16783,14 @@ bool MeshTexture::RasterizeVirtualFaces(
 					
 					// 如果已有更高分的 texel，跳过（保持高分优先）
 					if (currentScore > m_texelScores[idx].score) {
-						// 如果有旧值，做加权混合
+						// // 如果有旧值，做加权混合
-						if (m_texelScores[idx].score > 0 && weight < 1.0f) {
+						// if (m_texelScores[idx].score > 0 && weight < 1.0f) {
-							cv::Vec3b oldColor = atlas.at<cv::Vec3b>(atlasY, atlasX);
+						// 	cv::Vec3b oldColor = atlas.at<cv::Vec3b>(atlasY, atlasX);
-							float oldWeight = 1.0f - weight;
+						// 	float oldWeight = 1.0f - weight;
-							color[0] = (uchar)(color[0] * weight + oldColor[0] * oldWeight);
+						// 	color[0] = (uchar)(color[0] * weight + oldColor[0] * oldWeight);
-							color[1] = (uchar)(color[1] * weight + oldColor[1] * oldWeight);
+						// 	color[1] = (uchar)(color[1] * weight + oldColor[1] * oldWeight);
-							color[2] = (uchar)(color[2] * weight + oldColor[2] * oldWeight);
+						// 	color[2] = (uchar)(color[2] * weight + oldColor[2] * oldWeight);
-						}
+						// }
 						
 						atlas.at<cv::Vec3b>(atlasY, atlasX) = color;
 						m_texelScores[idx].score = currentScore;
@@ -16843,6 +16869,11 @@ bool MeshTexture::RasterizeVirtualFaces(
 
 	// cv::imwrite("/home/algo/Documents/openMVS/data/546893/out.546893/debug_atlas_before_return.png", atlas);
 
+	cv::Mat mask;
+	cv::compare(atlas, cv::Scalar(colEmpty.b, colEmpty.g, colEmpty.r), mask, cv::CMP_EQ);
+	cv::Mat kernel = cv::getStructuringElement(cv::MORPH_ELLIPSE, cv::Size(9, 9));
+	// cv::morphologyEx(atlas, atlas, cv::MORPH_CLOSE, kernel);
+
     return true;
 }