多视图混合采样替换patch

libs/MVS/SceneTexture.cpp

@@ -82,6 +82,31 @@ using namespace MVS;
 #if TEXOPT_INFERENCE == TEXOPT_INFERENCE_LBP
 #include "../Math/LBP.h"
 namespace MVS {
+
+
+// 2. 重心坐标计算（就地实现）
+inline bool ComputeBarycentricCoords(const Point2f& p,
+                                    const Point2f& a,
+                                    const Point2f& b,
+                                    const Point2f& c,
+                                    Point2f& uv) {
+    const Point2f v0 = b - a;
+    const Point2f v1 = c - a;
+    const Point2f v2 = p - a;
+    const float d00 = v0.dot(v0);
+    const float d01 = v0.dot(v1);
+    const float d11 = v1.dot(v1);
+    const float d20 = v2.dot(v0);
+    const float d21 = v2.dot(v1);
+    const float denom = d00 * d11 - d01 * d01;
+    if (fabs(denom) < 1e-10f) return false;
+    const float v = (d11 * d20 - d01 * d21) / denom;
+    const float w = (d00 * d21 - d01 * d20) / denom;
+    uv.x = 1.0f - v - w; // u
+    uv.y = v;            // v
+    return true;
+}
+
 typedef LBPInference::NodeID NodeID;
 // Potts model as smoothness function
 LBPInference::EnergyType STCALL SmoothnessPotts(LBPInference::NodeID, LBPInference::NodeID, LBPInference::LabelID l1, LBPInference::LabelID l2) {
@@ -472,6 +497,7 @@ public:
 	bool CreateVirtualFaces63(FaceDataViewArr& facesDatas, FaceDataViewArr& virtualFacesDatas, VirtualFaceIdxsArr& virtualFaces, std::vector<bool>& isVirtualFace, unsigned minCommonCameras=2, float thMaxNormalDeviation=25.f) const;
 	bool CreateVirtualFaces64(FaceDataViewArr& facesDatas, FaceDataViewArr& virtualFacesDatas, VirtualFaceIdxsArr& virtualFaces, std::vector<bool>& isVirtualFace, unsigned minCommonCameras=2, float thMaxNormalDeviation=25.f) const;
 	bool CreateVirtualFaces65(FaceDataViewArr& facesDatas, FaceDataViewArr& virtualFacesDatas, VirtualFaceIdxsArr& virtualFaces, std::vector<bool>& isVirtualFace, unsigned minCommonCameras=2, float thMaxNormalDeviation=25.f) const;
+	void CreateVirtualFaces8(const FaceDataViewArr& facesDatas, FaceDataViewArr& virtualFacesDatas, VirtualFaceIdxsArr& virtualFaces, unsigned minCommonCameras=2, float thMaxNormalDeviation=25.f) const;
 
 	static std::string GetFileNameWithoutExtension(std::string& strPath);
 	float CalculateBrightnessScore(const Image& imageData) const;
@@ -504,7 +530,7 @@ public:
 	void LocalSeamLeveling();
 	void LocalSeamLeveling3();
 	void GenerateTexture(bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, float fSharpnessWeight, int maxTextureSize, const SEACAVE::String& baseFileName, bool bOriginFaceview);
-	void GenerateTexture2(bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, float fSharpnessWeight, int maxTextureSize, const SEACAVE::String& baseFileName);
+	void GenerateTexture2(bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, float fSharpnessWeight, int maxTextureSize, const SEACAVE::String& baseFileName, bool bOriginFaceview);
 
 	// Bruce
 	//*
@@ -605,7 +631,18 @@ public:
 		return distances[distances.size() / 2];
 	}
 
+	// 在 MeshTexture 类的 public 或 private 区域添加：
+	struct FaceCandidates {
+		IIndex primaryView = NO_ID;
+		std::vector<IIndex> candidateViews;     // Top-N 视图索引
+		std::vector<float> candidateWeights;    // 对应的权重
+	};
+
+	// 成员变量
+	cList<FaceCandidates, FIndex> faceCandidates;
+
 	//*/
+
 	/*
 	// 采用ITU-R BT.601标准系数，增加数值稳定性处理
 	template <typename PIXEL>
@@ -6820,7 +6857,7 @@ bool MeshTexture::CreateVirtualFaces65(FaceDataViewArr& facesDatas, FaceDataView
 				const Image& imageData = images[index];
 				std::string strPath = imageData.name;
 				std::string strName = MeshTexture::GetFileNameWithoutExtension(strPath);
-				printf("Top-K index=%d, strName=%s, score=%f\n", index, strName.c_str(), score);
+				// printf("Top-K index=%d, strName=%s, score=%f\n", index, strName.c_str(), score);
 
 				auto it_view = mapViewCoverageData.find(index);
 				if (it_view == mapViewCoverageData.end()) {
@@ -7455,6 +7492,121 @@ bool MeshTexture::CreateVirtualFaces65(FaceDataViewArr& facesDatas, FaceDataView
 	return true;
 }
 
+
+// build virtual faces with:
+// - similar normal
+// - high percentage of common images that see them
+void MeshTexture::CreateVirtualFaces8(const FaceDataViewArr& facesDatas, FaceDataViewArr& virtualFacesDatas, VirtualFaceIdxsArr& virtualFaces, unsigned minCommonCameras, float thMaxNormalDeviation) const
+{
+	const float ratioAngleToQuality(0.67f);
+	const float cosMaxNormalDeviation(COS(FD2R(thMaxNormalDeviation)));
+	Mesh::FaceIdxArr remainingFaces(faces.size());
+	std::iota(remainingFaces.begin(), remainingFaces.end(), 0);
+	std::vector<bool> selectedFaces(faces.size(), false);
+	cQueue<FIndex, FIndex, 0> currentVirtualFaceQueue;
+	std::unordered_set<FIndex> queuedFaces;
+	do {
+		const FIndex startPos = RAND() % remainingFaces.size();
+		const FIndex virtualFaceCenterFaceID = remainingFaces[startPos];
+		ASSERT(currentVirtualFaceQueue.IsEmpty());
+		const Normal& normalCenter = scene.mesh.faceNormals[virtualFaceCenterFaceID];
+		const FaceDataArr& centerFaceDatas = facesDatas[virtualFaceCenterFaceID];
+		// select the common cameras
+		Mesh::FaceIdxArr virtualFace;
+		FaceDataArr virtualFaceDatas;
+		if (centerFaceDatas.empty()) {
+			virtualFace.emplace_back(virtualFaceCenterFaceID);
+			selectedFaces[virtualFaceCenterFaceID] = true;
+			const auto posToErase = remainingFaces.FindFirst(virtualFaceCenterFaceID);
+			ASSERT(posToErase != Mesh::FaceIdxArr::NO_INDEX);
+			remainingFaces.RemoveAtMove(posToErase);
+		} else {
+			const IIndexArr selectedCams = SelectBestViews(centerFaceDatas, virtualFaceCenterFaceID, minCommonCameras, ratioAngleToQuality);
+			currentVirtualFaceQueue.AddTail(virtualFaceCenterFaceID);
+			queuedFaces.clear();
+			do {
+				const FIndex currentFaceId = currentVirtualFaceQueue.GetHead();
+				currentVirtualFaceQueue.PopHead();
+				// check for condition to add in current virtual face
+				// normal angle smaller than thMaxNormalDeviation degrees
+				const Normal& faceNormal = scene.mesh.faceNormals[currentFaceId];
+				const float cosFaceToCenter(ComputeAngleN(normalCenter.ptr(), faceNormal.ptr()));
+				if (cosFaceToCenter < cosMaxNormalDeviation)
+					continue;
+				// check if current face is seen by all cameras in selectedCams
+				ASSERT(!selectedCams.empty());
+				if (!IsFaceVisible(facesDatas[currentFaceId], selectedCams))
+					continue;
+				// remove it from remaining faces and add it to the virtual face
+				{
+					const auto posToErase = remainingFaces.FindFirst(currentFaceId);
+					ASSERT(posToErase != Mesh::FaceIdxArr::NO_INDEX);
+					remainingFaces.RemoveAtMove(posToErase);
+					selectedFaces[currentFaceId] = true;
+					virtualFace.push_back(currentFaceId);
+				}
+				// add all new neighbors to the queue
+				const Mesh::FaceFaces& ffaces = faceFaces[currentFaceId];
+				for (int i = 0; i < 3; ++i) {
+					const FIndex fIdx = ffaces[i];
+					if (fIdx == NO_ID)
+						continue;
+					if (!selectedFaces[fIdx] && queuedFaces.find(fIdx) == queuedFaces.end()) {
+						currentVirtualFaceQueue.AddTail(fIdx);
+						queuedFaces.emplace(fIdx);
+					}
+				}
+			} while (!currentVirtualFaceQueue.IsEmpty());
+			// compute virtual face quality and create virtual face
+			for (IIndex idxView: selectedCams) {
+				FaceData& virtualFaceData = virtualFaceDatas.emplace_back();
+				virtualFaceData.quality = 0;
+				virtualFaceData.idxView = idxView;
+				#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
+				virtualFaceData.color = Point3f::ZERO;
+				#endif
+				unsigned processedFaces(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;
+							break;
+						}
+					}
+				}
+				ASSERT(processedFaces > 0);
+
+				// 修改方案 B：使用第 20% 分位（更鲁棒）
+				// 收集所有 quality，排序，取较低的那个
+				std::vector<float> qualities;
+				for (FIndex fid : virtualFace) {
+					const FaceDataArr& faceDatas = facesDatas[fid];
+					for (FaceData& faceData: faceDatas) {
+						if (faceData.idxView == idxView) {
+							qualities.push_back(faceData.quality);
+							break;
+						}
+					}
+				}
+				std::sort(qualities.begin(), qualities.end());
+				virtualFaceData.quality = qualities[qualities.size() * 0.2]; // 取第20%
+
+				#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
+				virtualFaceData.color /= processedFaces;
+				#endif
+			}
+			ASSERT(!virtualFaceDatas.empty());
+		}
+		virtualFacesDatas.emplace_back(std::move(virtualFaceDatas));
+		virtualFaces.emplace_back(std::move(virtualFace));
+	} while (!remainingFaces.empty());
+}
+
 /**
  * 计算图像亮度评分，专为纹理生成优化
  * @param imageData 输入图像（支持单通道和三通道）
@@ -9759,10 +9911,11 @@ bool MeshTexture::FaceViewSelection3( unsigned minCommonCameras, float fOutlierT
 			// CreateVirtualFaces6(facesDatas, virtualFacesDatas, virtualFaces, isVirtualFace, minCommonCameras);
 			// CreateVirtualFaces61(facesDatas, virtualFacesDatas, virtualFaces, isVirtualFace, minCommonCameras);
 			// CreateVirtualFaces62(facesDatas, virtualFacesDatas, virtualFaces, isVirtualFace, minCommonCameras);
-			CreateVirtualFaces65(facesDatas, virtualFacesDatas, virtualFaces, isVirtualFace, minCommonCameras);
+			// CreateVirtualFaces65(facesDatas, virtualFacesDatas, virtualFaces, isVirtualFace, minCommonCameras);
+			CreateVirtualFaces8(facesDatas, virtualFacesDatas, virtualFaces, minCommonCameras);
 			TD_TIMER_STARTD();
 			// CreateVirtualFaces7(facesDatas, virtualFacesDatas, virtualFaces, isVirtualFace, minCommonCameras);
-			DEBUG_EXTRA("CreateVirtualFaces completed: %s", TD_TIMER_GET_FMT().c_str());
+			// DEBUG_EXTRA("CreateVirtualFaces completed: %s", TD_TIMER_GET_FMT().c_str());
 
 			size_t controlCounter(0);
 			FOREACH(idxVF, virtualFaces) {
@@ -10791,7 +10944,59 @@ bool MeshTexture::FaceViewSelection3( unsigned minCommonCameras, float fOutlierT
 			while (mapIdxPatch.size() <= nComponents)
 				mapIdxPatch.Insert(numPatches);
 		}
+
+		// --- 新增：构建每个面的候选视图列表 ---
+		faceCandidates.resize(faces.size());
+		const int TOP_N = 3;  // 取前3个最佳视图
+
+		FOREACH(f, faces) {
+			faceCandidates[f].primaryView = labels[f];
+			
+			if (labels[f] == NO_ID || f >= facesDatas.size() || facesDatas[f].empty())
+				continue;
+
+			// 1. 收集所有可见视图，并按质量排序
+			std::vector<std::pair<float, IIndex>> viewQualities;
+			viewQualities.reserve(facesDatas[f].size());
+			for (const FaceData& fd : facesDatas[f]) {
+				if (!fd.bInvalidFacesRelative) {
+					viewQualities.emplace_back(fd.quality, fd.idxView);
 				}
+			}
+
+			if (viewQualities.empty())
+				continue;
+
+			// 按质量降序排序
+			std::sort(viewQualities.begin(), viewQualities.end(),
+					[](const auto& a, const auto& b) { return a.first > b.first; });
+
+			// 2. 选取 Top-N，使用 Softmax 计算权重（关键：避免模糊！）
+			const size_t n = std::min(TOP_N, (int)viewQualities.size());
+			faceCandidates[f].candidateViews.resize(n);
+			faceCandidates[f].candidateWeights.resize(n);
+
+			// Softmax 权重计算（temperature 控制锐度）
+			const float temperature = 0.05f;  // 越小越锐利，0.05f 是个不错的起点
+			float max_q = viewQualities[0].first;
+			float sum = 0.0f;
+			
+			for (size_t i = 0; i < n; ++i) {
+				faceCandidates[f].candidateViews[i] = viewQualities[i].second;
+				float w = exp((viewQualities[i].first - max_q) / temperature);
+				faceCandidates[f].candidateWeights[i] = w;
+				sum += w;
+			}
+			
+			// 归一化
+			if (sum > 0) {
+				for (size_t i = 0; i < n; ++i) {
+					faceCandidates[f].candidateWeights[i] /= sum;
+				}
+			}
+		}
+	}
+
 	return true;
 }
 
@@ -12791,13 +12996,16 @@ void MeshTexture::LocalSeamLeveling()
 	}
 }
 
-void MeshTexture::GenerateTexture2(bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, float fSharpnessWeight, int maxTextureSize, const SEACAVE::String& basename)
+void MeshTexture::GenerateTexture2(bool bGlobalSeamLeveling, bool bLocalSeamLeveling, unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic, Pixel8U colEmpty, float fSharpnessWeight, int maxTextureSize, const SEACAVE::String& basename, bool bOriginFaceview)
 {
 	// Bruce
-	bGlobalSeamLeveling = false;
+	// bGlobalSeamLeveling = false;
-	bLocalSeamLeveling = false;
+	// bLocalSeamLeveling = false;
 	// project patches in the corresponding view and compute texture-coordinates and bounding-box
-	const int border(2);
+	// Bruce
+	int border = 2;
+	if (!bOriginFaceview)
+		border = 4;
 	faceTexcoords.resize(faces.size()*3);
 	faceTexindices.resize(faces.size());
 	#ifdef TEXOPT_USE_OPENMP
@@ -12824,10 +13032,30 @@ void MeshTexture::GenerateTexture2(bool bGlobalSeamLeveling, bool bLocalSeamLeve
 		// compute relative texture coordinates
 		ASSERT(imageData.image.isInside(Point2f(aabb.ptMin)));
 		ASSERT(imageData.image.isInside(Point2f(aabb.ptMax)));
+		
+		if (bOriginFaceview)
+		{
 			texturePatch.rect.x = FLOOR2INT(aabb.ptMin[0])-border;
 			texturePatch.rect.y = FLOOR2INT(aabb.ptMin[1])-border;
 			texturePatch.rect.width = CEIL2INT(aabb.ptMax[0]-aabb.ptMin[0])+border*2;
 			texturePatch.rect.height = CEIL2INT(aabb.ptMax[1]-aabb.ptMin[1])+border*2;
+		}
+		else
+		{
+			texturePatch.rect.x = std::max(0, FLOOR2INT(aabb.ptMin[0])-border);
+			texturePatch.rect.y = std::max(0, FLOOR2INT(aabb.ptMin[1])-border);
+			// 限制尺寸不超过图像实际范围
+			const cv::Mat& img = images[texturePatch.label].image;
+			texturePatch.rect.width = std::min(
+				CEIL2INT(aabb.ptMax[0]-aabb.ptMin[0])+border*2, 
+				img.cols - texturePatch.rect.x
+			);
+			texturePatch.rect.height = std::min(
+				CEIL2INT(aabb.ptMax[1]-aabb.ptMin[1])+border*2,
+				img.rows - texturePatch.rect.y
+			);
+		}
+
 		ASSERT(imageData.image.isInside(texturePatch.rect.tl()));
 		ASSERT(imageData.image.isInside(texturePatch.rect.br()));
 		const TexCoord offset(texturePatch.rect.tl());
@@ -12851,6 +13079,8 @@ void MeshTexture::GenerateTexture2(bool bGlobalSeamLeveling, bool bLocalSeamLeve
 
 
 	LOG_OUT() << "First loop completed" << std::endl;
+
+	TD_TIMER_STARTD();
 	// perform seam leveling
 	if (texturePatches.size() > 2 && (bGlobalSeamLeveling || bLocalSeamLeveling)) {
 		// create seam vertices and edges
@@ -12859,17 +13089,19 @@ void MeshTexture::GenerateTexture2(bool bGlobalSeamLeveling, bool bLocalSeamLeve
 		// perform global seam leveling
 		if (bGlobalSeamLeveling) {
 			TD_TIMER_STARTD();
-			GlobalSeamLeveling();
+			GlobalSeamLeveling3();
-			DEBUG_ULTIMATE("\tglobal seam leveling completed (%s)", TD_TIMER_GET_FMT().c_str());
+			DEBUG_EXTRA("\tglobal seam leveling completed (%s)", TD_TIMER_GET_FMT().c_str());
 		}
 
 		// perform local seam leveling
 		if (bLocalSeamLeveling) {
 			TD_TIMER_STARTD();
-			LocalSeamLeveling();
+			// LocalSeamLeveling();
-			DEBUG_ULTIMATE("\tlocal seam leveling completed (%s)", TD_TIMER_GET_FMT().c_str());
+			LocalSeamLeveling3();
+			DEBUG_EXTRA("\tlocal seam leveling completed (%s)", TD_TIMER_GET_FMT().c_str());
 		}
 	}
+	DEBUG_EXTRA("seam (%s)", TD_TIMER_GET_FMT().c_str());
 
 	// merge texture patches with overlapping rectangles
 	for (unsigned i=0; i<texturePatches.size()-1; ++i) {
@@ -12903,6 +13135,11 @@ void MeshTexture::GenerateTexture2(bool bGlobalSeamLeveling, bool bLocalSeamLeve
 		// const unsigned minPatchSize = 20;
 		RectsBinPack::RectWIdxArr unplacedRects(texturePatches.size());
 		FOREACH(i, texturePatches) {
+			if (texturePatches[i].label == NO_ID) {
+				// 将无效面片区域填充为绿色
+				// texturesDiffuse[i](texturePatches[i].rect).setTo(cv::Scalar(0, 255, 0)); // BGR格式，绿色
+				// continue;
+			}
 
 			// LOG_OUT() << "Third loop completed" << std::endl;
 			if (maxTextureSize > 0 && (texturePatches[i].rect.width > maxTextureSize || texturePatches[i].rect.height > maxTextureSize)) {
@@ -12917,9 +13154,16 @@ void MeshTexture::GenerateTexture2(bool bGlobalSeamLeveling, bool bLocalSeamLeve
 		// pack patches: one pack per texture file
 		CLISTDEF2IDX(RectsBinPack::RectWIdxArr, TexIndex) placedRects; {
 			// increase texture size till all patches fit
-			const unsigned typeRectsBinPack(nRectPackingHeuristic/100);
+			// Bruce
-			const unsigned typeSplit((nRectPackingHeuristic-typeRectsBinPack*100)/10);
+			unsigned typeRectsBinPack(nRectPackingHeuristic/100);
-			const unsigned typeHeuristic(nRectPackingHeuristic%10);
+			unsigned typeSplit((nRectPackingHeuristic-typeRectsBinPack*100)/10);
+			unsigned typeHeuristic(nRectPackingHeuristic%10);
+			if (!bOriginFaceview && false)
+			{
+				typeRectsBinPack = 1;
+				typeSplit = 0;
+				typeHeuristic = 1;
+			}
 			int textureSize = 0; 
 			while (!unplacedRects.empty()) {
 				TD_TIMER_STARTD();
@@ -12951,6 +13195,7 @@ void MeshTexture::GenerateTexture2(bool bGlobalSeamLeveling, bool bLocalSeamLeve
 				if (textureSize == maxTextureSize || unplacedRects.empty()) {
 					// create texture image
 					placedRects.emplace_back(std::move(newPlacedRects));
+					// Pixel8U colEmpty2=Pixel8U(0,0,255);
 					texturesDiffuse.emplace_back(textureSize, textureSize).setTo(cv::Scalar(colEmpty.b, colEmpty.g, colEmpty.r));
 					textureSize = 0;
 				} else {
@@ -12982,23 +13227,150 @@ void MeshTexture::GenerateTexture2(bool bGlobalSeamLeveling, bool bLocalSeamLeve
 					(rect.height == texturePatch.rect.width && rect.width == texturePatch.rect.height));
 				int x(0), y(1);
 				if (texturePatch.label != NO_ID) {
-					const Image& imageData = images[texturePatch.label];
+					// --- 多视图混合采样（参考 RC 逻辑） ---
-					cv::Mat patch(imageData.image(texturePatch.rect));
+					// 1. 获取目标纹理块
+					cv::Mat dstMat = texturesDiffuse[idxTexture](rect);
+					
+					// 2. 如果需要旋转（OpenMVS 的内部优化）
+					cv::Mat patchBuffer; // 用于存放旋转后的中间结果
+					cv::Mat* targetMat = &dstMat;
 					if (rect.width != texturePatch.rect.width) {
-						// flip patch and texture-coordinates
+						patchBuffer.create(rect.height, rect.width, dstMat.type());
-						patch = patch.t();
+						targetMat = &patchBuffer;
 						x = 1; y = 0;
+					} else {
+						patchBuffer = dstMat; // 指向同一块内存
+					}
+					
+					// 遍历 Patch 中的每一个三角形进行光栅化
+					for (const FIndex idxFace : texturePatch.faces) {
+						if (idxFace >= this->faceCandidates.size() ||
+							this->faceCandidates[idxFace].candidateViews.empty())
+							continue;
+
+						const Face& face = faces[idxFace];
+						const TexCoord* texcoords = faceTexcoords.data() + idxFace * 3;
+
+						// 手动计算三角形包围盒（不使用 AABB2i）
+						int minX = INT_MAX, minY = INT_MAX, maxX = INT_MIN, maxY = INT_MIN;
+						for (int i = 0; i < 3; ++i) {
+							Point2f pt(texcoords[i][0], texcoords[i][1]);
+							int x = FLOOR2INT(pt.x);
+							int y = FLOOR2INT(pt.y);
+							minX = std::min(minX, x);
+							minY = std::min(minY, y);
+							maxX = std::max(maxX, x);
+							maxY = std::max(maxY, y);
+						}
+
+						// 裁剪到 Patch 边界
+						minX = std::max(minX, 0);
+						minY = std::max(minY, 0);
+						maxX = std::min(maxX, targetMat->cols - 1);
+						maxY = std::min(maxY, targetMat->rows - 1);
+						if (minX > maxX || minY > maxY) continue;
+
+						// 预存 UV
+						Point2f uvTri[3];
+						for (int i = 0; i < 3; ++i)
+							uvTri[i] = Point2f(texcoords[i][0], texcoords[i][1]);
+
+						// 光栅化
+						for (int py = minY; py <= maxY; ++py) {
+							for (int px = minX; px <= maxX; ++px) {
+								Point2f P(px + 0.5f, py + 0.5f);
+								Point2f bary;
+								if (!ComputeBarycentricCoords(P, uvTri[0], uvTri[1], uvTri[2], bary))
+									continue;
+
+								float u = bary.x;
+								float v = bary.y;
+								float w = 1.0f - u - v;
+								if (u < 0 || v < 0 || w < 0) continue;
+
+								const auto& candidates = this->faceCandidates[idxFace];
+
+								// 多视图加权采样（完全自包含，不依赖任何外部类型）
+								float acc_r = 0.0f, acc_g = 0.0f, acc_b = 0.0f, acc_w = 0.0f;
+
+								for (size_t k = 0; k < candidates.candidateViews.size(); ++k) {
+									const IIndex viewID = candidates.candidateViews[k];
+									float weight = candidates.candidateWeights[k];
+
+									const Image& candImage = images[viewID];
+
+									// 插值 3D 点
+									Point3f pt3D =
+										vertices[face[0]] * w +
+										vertices[face[1]] * u +
+										vertices[face[2]] * v;
+
+									Point2f uv_cand = candImage.camera.ProjectPointP(pt3D);
+
+									if (!candImage.image.isInsideWithBorder(uv_cand, border))
+										continue;
+
+									// 双线性插值（直接使用 cv::Vec3f，避免 Color 类型）
+									const cv::Mat& src = candImage.image;
+									const int ix = cvFloor(uv_cand.x);
+									const int iy = cvFloor(uv_cand.y);
+									const float dx = uv_cand.x - ix;
+									const float dy = uv_cand.y - iy;
+									
+									// 边界保护
+									const int ix1 = std::min(ix + 1, src.cols - 1);
+									const int iy1 = std::min(iy + 1, src.rows - 1);
+
+									// 读取四个像素（使用 cv::Vec3f，OpenMVS 的图像通常是 CV_32FC3）
+									const cv::Vec3f& c00 = src.at<cv::Vec3f>(iy, ix);
+									const cv::Vec3f& c01 = src.at<cv::Vec3f>(iy, ix1);
+									const cv::Vec3f& c10 = src.at<cv::Vec3f>(iy1, ix);
+									const cv::Vec3f& c11 = src.at<cv::Vec3f>(iy1, ix1);
+
+									// 双线性插值公式
+									const float inv_a = (1.0f - dx) * (1.0f - dy);
+									const float inv_b = dx * (1.0f - dy);
+									const float inv_c = (1.0f - dx) * dy;
+									const float inv_d = dx * dy;
+
+									const float r = c00[0] * inv_a + c01[0] * inv_b + c10[0] * inv_c + c11[0] * inv_d;
+									const float g = c00[1] * inv_a + c01[1] * inv_b + c10[1] * inv_c + c11[1] * inv_d;
+									const float b = c00[2] * inv_a + c01[2] * inv_b + c10[2] * inv_c + c11[2] * inv_d;
+
+									acc_r += r * weight;
+									acc_g += g * weight;
+									acc_b += b * weight;
+									acc_w += weight;
+								}
+
+								// 写入最终颜色
+								if (acc_w > 0.0f) {
+									const float inv_w = 1.0f / acc_w;
+									Pixel8U finalColor8u;
+									finalColor8u.r = cv::saturate_cast<uchar>(acc_r * inv_w * 255.f);
+									finalColor8u.g = cv::saturate_cast<uchar>(acc_g * inv_w * 255.f);
+									finalColor8u.b = cv::saturate_cast<uchar>(acc_b * inv_w * 255.f);
+									targetMat->at<Pixel8U>(py, px) = finalColor8u;
+								}
+							}
+						}
+					}
+
+					// 7. 如果之前发生了旋转，转置回去
+					if (rect.width != texturePatch.rect.width) {
+						cv::transpose(patchBuffer, dstMat);
 					}
-					patch.copyTo(texturesDiffuse[idxTexture](rect));
 				}
 				else
 				{
+					//*
 					auto it = texturePatch.faces.begin();
 					while (it != texturePatch.faces.end())
 					{
 						emptyFaceIndexes.push_back(*it);
 						++it;
 					}
+					//*/
 				}
 				// compute final texture coordinates
 				const TexCoord offset(rect.tl());
@@ -13017,6 +13389,7 @@ void MeshTexture::GenerateTexture2(bool bGlobalSeamLeveling, bool bLocalSeamLeve
 		}
 		if (texturesDiffuse.size() == 1)
 			faceTexindices.Release();
+
 		// apply some sharpening
 		if (fSharpnessWeight > 0) {
 			constexpr double sigma = 1.5;