颜色处理

libs/MVS/SceneTexture.cpp

@@ -9746,28 +9746,36 @@ bool PointInTriangle(const Point2f& p, const Point2f& a, const Point2f& b, const
 }
 
 // 辅助函数：从图像中双线性插值采样颜色
+// SampleImageBilinear 函数可能存在错误
 Pixel8U SampleImageBilinear(const Image8U3& image, const Point2f& point) {
-    int x = (int)point.x;
-    int y = (int)point.y;
+    float x = point.x, y = point.y;
+    int x0 = (int)x, y0 = (int)y;
+    int x1 = x0 + 1, y1 = y0 + 1;
     
-    // 确保在图像范围内
-    if (x < 0 || x >= image.cols-1 || y < 0 || y >= image.rows-1) {
-        return Pixel8U(0, 0, 0);
-    }
+    // 边界检查
+    x1 = MIN(x1, image.cols-1);
+    y1 = MIN(y1, image.rows-1);
     
-    float dx = point.x - x;
-    float dy = point.y - y;
+    float dx = x - x0;
+    float dy = y - y0;
     
-    const Pixel8U& p00 = image(y, x);
-    const Pixel8U& p01 = image(y, x+1);
-    const Pixel8U& p10 = image(y+1, x);
-    const Pixel8U& p11 = image(y+1, x+1);
+    // 正确获取像素（注意OpenCV是BGR顺序）
+    const Pixel8U& p00 = image(y0, x0);
+    const Pixel8U& p01 = image(y0, x1);
+    const Pixel8U& p10 = image(y1, x0);
+    const Pixel8U& p11 = image(y1, x1);
     
+    // 双线性插值计算
     Pixel8U result;
     for (int c = 0; c < 3; ++c) {
-        float top = p00[c] * (1-dx) + p01[c] * dx;
-        float bottom = p10[c] * (1-dx) + p11[c] * dx;
-        result[c] = (uint8_t)(top * (1-dy) + bottom * dy);
+        float v00 = p00[c];
+        float v01 = p01[c];
+        float v10 = p10[c];
+        float v11 = p11[c];
+        
+        float top = v00 + (v01 - v00) * dx;
+        float bottom = v10 + (v11 - v10) * dx;
+        result[c] = (uint8_t)(top + (bottom - top) * dy);
     }
     
     return result;