hesuicong
/
openMVS
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

颜色溢出优化

master
hesuicong 1 month ago
parent
eafae796c2
commit
e18f91e894
3 changed files with 301 additions and 371 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 3
      libs/MVS/Scene.h
  2. 533
      libs/MVS/SceneTexture.cpp
  3. 100
      libs/MVS/mask_face_occlusion.py

3
libs/MVS/Scene.h
Unescape View File

@ -65,6 +65,7 @@ public: @@ -65,6 +65,7 @@ public:
std::map<std::string, std::unordered_set<int>> visible_faces_map;
std::map<std::string, std::unordered_set<int>> edge_faces_map;
std::map<std::string, std::unordered_set<int>> delete_edge_faces_map;
std::map<std::string, std::unordered_set<int>> face_normal_visible_map;
std::unordered_set<int> face_visible_relative;
public:
@ -163,6 +164,7 @@ public: @@ -163,6 +164,7 @@ public:
std::unordered_set<int>& face_visible_relative,
std::map<std::string, std::unordered_set<int>>& edge_faces_map,
std::map<std::string, std::unordered_set<int>>& delete_edge_faces_map,
std::map<std::string, std::unordered_set<int>>& face_normal_visible_map,
std::string& basePath);
// Mesh texturing
@ -176,6 +178,7 @@ public: @@ -176,6 +178,7 @@ public:
bool is_face_visible_relative(int face_index);
bool is_face_edge(const std::string& image_name, int face_index);
bool is_face_delete_edge(const std::string& image_name, int face_index);
bool is_face_normal_visible_map(const std::string& image_name, int face_index);
void SegmentMeshBasedOnCurvature(Mesh::FaceIdxArr& regionMap, float curvatureThreshold);

533
libs/MVS/SceneTexture.cpp
Unescape View File

@ -461,6 +461,7 @@ public: @@ -461,6 +461,7 @@ public:
bool CreateVirtualFaces6(FaceDataViewArr& facesDatas, FaceDataViewArr& ComputeAverageQuality, VirtualFaceIdxsArr& virtualFaces, std::vector<bool>& isVirtualFace, unsigned minCommonCameras=2, float thMaxNormalDeviation=25.f) const;
bool CreateVirtualFaces61(FaceDataViewArr& facesDatas, FaceDataViewArr& virtualFacesDatas, VirtualFaceIdxsArr& virtualFaces, std::vector<bool>& isVirtualFace, unsigned minCommonCameras=2, float thMaxNormalDeviation=25.f);
bool CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataViewArr& ComputeAverageQuality, VirtualFaceIdxsArr& virtualFaces, std::vector<bool>& isVirtualFace, unsigned minCommonCameras=2, float thMaxNormalDeviation=25.f) const;
static std::string GetFileNameWithoutExtension(std::string& strPath);
float CalculateBrightnessScore(const Image& imageData) const;
bool IsFaceVisibleRelaxed(const FaceDataArr& faceDatas, const IIndexArr& selectedCams, float visibleRatioThreshold) const;
bool CheckColorConsistency(const FaceDataArr& centerDatas, const FaceDataArr& candidateDatas) const;
@ -801,6 +802,8 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr @@ -801,6 +802,8 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
}
std::vector<int> faceViewCount(faces.size(), 0);
std::vector<std::vector<Color>> faceViewColors(faces.size()); // 存储每个面片在各个视图下的颜色
std::vector<std::vector<float>> faceViewQualities(faces.size()); // 存储每个面片在各个视图下的质量
// extract array of faces viewed by each image
IIndexArr views(_views);
@ -819,8 +822,8 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr @@ -819,8 +822,8 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
#ifdef TEXOPT_USE_OPENMP
bool bAbort(false);
#pragma omp parallel for private(imageGradMag, mGrad, faceMap, depthMap)
for (int_t idx=0; idx<(int_t)views.size(); ++idx) {
for (int_t idx=0; idx<(int_t)views.size(); ++idx)
{
#pragma omp flush (bAbort)
if (bAbort) {
++progress;
@ -929,160 +932,7 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr @@ -929,160 +932,7 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
depthMap.create(imageData.GetSize());
std::unordered_set<FIndex> tempFaces;
if (false)
{
// viewDepthMaps[idxView] = depthMap;
for (int r = 0; r < depthMap.rows; ++r) {
for (int c = 0; c < depthMap.cols; ++c) {
// printf("1depthMap(r, c)=%f\n", depthMap(r, c));
}
}
RasterMesh::Triangle triangle;
RasterMesh rasterer1(*this, vertices, imageData.camera, depthMap, faceMap, scene.mesh, false);
RasterMesh::TriangleRasterizer triangleRasterizer(triangle, rasterer1);
if (nIgnoreMaskLabel >= 0) {
// import mask
BitMatrix bmask;
// std::cout << "nIgnoreMaskLabel is open" << std::endl;
DepthEstimator::ImportIgnoreMask(imageData, imageData.GetSize(), (uint16_t)OPTDENSE::nIgnoreMaskLabel, bmask, &rasterer1.mask);
} else if (nIgnoreMaskLabel == -1) {
// creating mask to discard invalid regions created during image radial undistortion
rasterer1.mask = DetectInvalidImageRegions(imageData.image);
#if TD_VERBOSE != TD_VERBOSE_OFF
if (VERBOSITY_LEVEL > 2)
cv::imwrite(String::FormatString("umask%04d.png", idxView), rasterer1.mask);
#endif
}
rasterer1.Clear();
#ifdef TEXOPT_USE_OPENMP
#pragma omp critical(invalid_faces_access)
#endif
{
std::lock_guard<std::mutex> lock(*scene.mesh.invalidFaces.mtx);
scene.mesh.invalidFaces.data.clear();
}
printf("imageData.name=%s\n", imageData.name.c_str());
for (FIndex idxFace : cameraFaces) {
if (idxFace >= faces.size()) {
DEBUG_EXTRA("Invalid face index %u (max %u) in view %u", idxFace, faces.size()-1, idxView);
continue;
}
// // 添加临界区保护
// bool skipFace = false;
// #ifdef TEXOPT_USE_OPENMP
// #pragma omp critical(invalid_faces_access)
// #endif
// {
// std::lock_guard<std::mutex> lock(scene.mesh.invalidFacesMutex);
// skipFace = (scene.mesh.invalidFaces.find(idxFace) != scene.mesh.invalidFaces.end());
// }
// if (skipFace)
// {
// continue;
// }
rasterer1.validFace = true;
const Face& facet = faces[idxFace];
rasterer1.idxFace = idxFace;
if (scene.is_face_visible(strName.c_str(), idxFace))
{
rasterer1.Project(facet, triangleRasterizer);
if (!rasterer1.validFace)
rasterer1.Project(facet, triangleRasterizer);
}
}
// if (!bUseVirtualFaces)
// if (bUseVirtualFaces)
tempFaces = PerformLocalDepthConsistencyCheck(depthMap, faceMap, scene.mesh, idxView, strName);
// RasterMesh rasterer2(*this, vertices, imageData.camera, depthMap, faceMap, scene.mesh, true);
RasterMesh rasterer2(*this, vertices, imageData.camera, depthMap, faceMap, std::ref(scene.mesh), true);
for (int r = 0; r < depthMap.rows; ++r) {
for (int c = 0; c < depthMap.cols; ++c) {
// if (depthMap(r, c)> 999.0f)
// printf("2depthMap(r, c)=%f\n", depthMap(r, c));
}
}
RasterMesh::TriangleRasterizer triangleRasterizer2(triangle, rasterer2);
if (nIgnoreMaskLabel >= 0) {
// import mask
BitMatrix bmask;
// std::cout << "nIgnoreMaskLabel is open" << std::endl;
DepthEstimator::ImportIgnoreMask(imageData, imageData.GetSize(), (uint16_t)OPTDENSE::nIgnoreMaskLabel, bmask, &rasterer2.mask);
} else if (nIgnoreMaskLabel == -1) {
// creating mask to discard invalid regions created during image radial undistortion
rasterer2.mask = DetectInvalidImageRegions(imageData.image);
#if TD_VERBOSE != TD_VERBOSE_OFF
if (VERBOSITY_LEVEL > 2)
cv::imwrite(String::FormatString("umask%04d.png", idxView), rasterer2.mask);
#endif
}
for (int r = 0; r < depthMap.rows; ++r) {
for (int c = 0; c < depthMap.cols; ++c) {
// if (depthMap(r, c)> 999.0f)
// printf("3depthMap(r, c)=%f, r=%d, c=%d, faceMap(r, c)=%d\n", depthMap(r, c), r, c, faceMap(r, c));
}
}
// rasterer2.Clear();
for (FIndex idxFace : cameraFaces) {
// 添加面索引有效性检查
if (idxFace >= faces.size()) {
DEBUG_EXTRA("Invalid face index %u (max %u) in view %u", idxFace, faces.size()-1, idxView);
continue;
}
// 添加临界区保护
bool skipFace = false;
#ifdef TEXOPT_USE_OPENMP
#pragma omp critical(invalid_faces_access)
#endif
{
std::lock_guard<std::mutex> lock(*scene.mesh.invalidFaces.mtx);
skipFace = (scene.mesh.invalidFaces.data.find(idxFace) != scene.mesh.invalidFaces.data.end());
}
if (skipFace)
{
continue;
}
if (tempFaces.find(idxFace) != tempFaces.end())
{
}
else
{
continue;
}
rasterer2.validFace = true;
const Face& facet = faces[idxFace];
rasterer2.idxFace = idxFace;
// rasterer2.Project(facet, triangleRasterizer2);
// if (!rasterer2.validFace)
// rasterer2.Project(facet, triangleRasterizer2);
}
for (int r = 0; r < depthMap.rows; ++r) {
for (int c = 0; c < depthMap.cols; ++c) {
// if (depthMap(r, c)> 999.0f)
// printf("4depthMap(r, c)=%f, r=%d, c=%d, faceMap(r, c)=%d\n", depthMap(r, c), r, c, faceMap(r, c));
}
}
}
else
{
// RasterMesh rasterer(vertices, imageData.camera, depthMap, faceMap);
RasterMesh rasterer(*this, vertices, imageData.camera, depthMap, faceMap, scene.mesh, false);
@ -1115,7 +965,11 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr @@ -1115,7 +965,11 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
skipVisibilityCheck = true;
}
if (scene.is_face_visible(strName.c_str(), idxFace))
bool is_face_visible = scene.is_face_visible(strName.c_str(), idxFace);
// bool is_face_normal_visible_map = scene.is_face_normal_visible_map(strName.c_str(), idxFace);
// if (is_face_visible && is_face_normal_visible_map)
if (is_face_visible)
// if (skipVisibilityCheck || scene.is_face_visible(strName.c_str(), idxFace))
{
rasterer.Project(facet, triangleRasterizer);
@ -1250,6 +1104,13 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr @@ -1250,6 +1104,13 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
if (depthMap(j,i)>999.0f)
faceData.bInvalidFacesRelative = true;
}
#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
// 保存视图颜色和质量
Color pixelColor = imageData.image(j,i);
faceViewColors[idxFace].push_back(pixelColor);
faceViewQualities[idxFace].push_back(imageGradMag(j,i));
#endif
}
}
// adjust face quality with camera angle relative to face normal
@ -1262,8 +1123,15 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr @@ -1262,8 +1123,15 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
const Vertex faceCenter((vertices[f[0]] + vertices[f[1]] + vertices[f[2]]) / 3.f);
const Point3f camDir(Cast<Mesh::Type>(imageData.camera.C) - faceCenter);
const Normal& faceNormal = scene.mesh.faceNormals[idxFace];
const float cosFaceCam(MAXF(0.001f, ComputeAngle(camDir.ptr(), faceNormal.ptr())));
// const float MIN_COS_THRESHOLD = 0.1f; // 增大阈值，减少极端倾斜视角的影响
// const float cosFaceCam(MAXF(MIN_COS_THRESHOLD, ComputeAngle(camDir.ptr(), faceNormal.ptr())));
faceDatas.back().quality *= SQUARE(cosFaceCam);
// faceDatas.back().quality *= cosFaceCam; // 线性调整
// faceDatas.back().quality *= pow(cosFaceCam, 0.5f); // 平方根调整
// faceDatas.back().quality *= 1.0f - 0.5f * (1.0f - cosFaceCam); // 平滑调整
}
#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
FOREACH(idxFace, areas) {
@ -1280,223 +1148,89 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr @@ -1280,223 +1148,89 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
// Temp
/*
for (int_t idx=0; idx<(int_t)views.size(); ++idx)
{
#pragma omp flush (bAbort)
if (bAbort)
{
++progress;
continue;
// 第一步：计算每个面片的最终颜色（基于最接近平均颜色的3个视图）
#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
Colors faceFinalColors; // 存储每个面片的最终颜色
std::vector<float> faceFinalQualities(faces.size(), 0.0f); // 存储每个面片的最终质量
// 使用循环初始化
for (size_t i = 0; i < faces.size(); ++i) {
faceFinalColors.push_back(Color::ZERO);
}
const IIndex idxView(views[(IIndex)idx]);
Image& imageData = images[idxView];
if (!imageData.IsValid()) {
++progress;
for (FIndex idxFace = 0; idxFace < faces.size(); ++idxFace) {
const std::vector<Color>& colors = faceViewColors[idxFace];
const std::vector<float>& qualities = faceViewQualities[idxFace];
if (colors.empty()) {
continue;
}
// 1. 计算所有视图颜色的平均值
Color avgColor = Color::ZERO;
for (const Color& color : colors) {
avgColor += color;
}
avgColor /= (float)colors.size();
// 2. 计算每个视图颜色与平均值的差异
std::vector<std::pair<float, int>> colorDistances; // (距离, 索引)
colorDistances.reserve(colors.size());
for (size_t i = 0; i < colors.size(); ++i) {
float distance = cv::norm(colors[i] - avgColor);
colorDistances.emplace_back(distance, i);
}
// 3. 按距离排序（从小到大）
std::sort(colorDistances.begin(), colorDistances.end(),
[](const std::pair<float, int>& a, const std::pair<float, int>& b) {
return a.first < b.first;
});
const Image& imageData = images[idxView];
std::string strPath = imageData.name;
size_t lastSlash = strPath.find_last_of("/\\");
if (lastSlash == std::string::npos) lastSlash = 0; // 若无分隔符，从头开始
else lastSlash++; // 跳过分隔符
// 查找扩展名分隔符 '.' 的位置
size_t lastDot = strPath.find_last_of('.');
if (lastDot == std::string::npos) lastDot = strPath.size(); // 若无扩展名，截到末尾
// 截取文件名（不含路径和扩展名）
std::string strName = strPath.substr(lastSlash, lastDot - lastSlash);
bool is_face_normal_visible_map = scene.is_face_normal_visible_map(strName.c_str(), idxFace);
// load image
unsigned level(nResolutionLevel);
const unsigned imageSize(imageData.RecomputeMaxResolution(level, nMinResolution));
if ((imageData.image.empty() || MAXF(imageData.width,imageData.height) != imageSize) && !imageData.ReloadImage(imageSize)) {
#ifdef TEXOPT_USE_OPENMP
bAbort = true;
#pragma omp flush (bAbort)
continue;
#else
return false;
#endif
}
imageData.UpdateCamera(scene.platforms);
// compute gradient magnitude
imageData.image.toGray(imageGradMag, cv::COLOR_BGR2GRAY, true);
cv::Mat grad[2];
mGrad[0].resize(imageGradMag.rows, imageGradMag.cols);
grad[0] = cv::Mat(imageGradMag.rows, imageGradMag.cols, cv::DataType<real>::type, (void*)mGrad[0].data());
mGrad[1].resize(imageGradMag.rows, imageGradMag.cols);
grad[1] = cv::Mat(imageGradMag.rows, imageGradMag.cols, cv::DataType<real>::type, (void*)mGrad[1].data());
cv::Sobel(imageGradMag, grad[0], cv::DataType<real>::type, 1, 0, 3, 1.0/8.0);
cv::Sobel(imageGradMag, grad[1], cv::DataType<real>::type, 0, 1, 3, 1.0/8.0);
(TImage<real>::EMatMap)imageGradMag = (mGrad[0].cwiseAbs2()+mGrad[1].cwiseAbs2()).cwiseSqrt();
// apply some blur on the gradient to lower noise/glossiness effects onto face-quality score
cv::GaussianBlur(imageGradMag, imageGradMag, cv::Size(15, 15), 0, 0, cv::BORDER_DEFAULT);
// select faces inside view frustum
Mesh::FaceIdxArr cameraFaces;
Mesh::FacesInserter inserter(cameraFaces);
const TFrustum<float,5> frustum(Matrix3x4f(imageData.camera.P), (float)imageData.width, (float)imageData.height);
octree.Traverse(frustum, inserter);
// project all triangles in this view and keep the closest ones
faceMap.create(imageData.GetSize());
depthMap.create(imageData.GetSize());
std::unordered_set<FIndex> tempFaces;
{
// RasterMesh rasterer(vertices, imageData.camera, depthMap, faceMap);
RasterMesh rasterer(*this, vertices, imageData.camera, depthMap, faceMap, scene.mesh, false);
RasterMesh::Triangle triangle;
RasterMesh::TriangleRasterizer triangleRasterizer(triangle, rasterer);
if (nIgnoreMaskLabel >= 0) {
// import mask
BitMatrix bmask;
// std::cout << "nIgnoreMaskLabel is open" << std::endl;
DepthEstimator::ImportIgnoreMask(imageData, imageData.GetSize(), (uint16_t)OPTDENSE::nIgnoreMaskLabel, bmask, &rasterer.mask);
} else if (nIgnoreMaskLabel == -1) {
// creating mask to discard invalid regions created during image radial undistortion
rasterer.mask = DetectInvalidImageRegions(imageData.image);
#if TD_VERBOSE != TD_VERBOSE_OFF
if (VERBOSITY_LEVEL > 2)
cv::imwrite(String::FormatString("umask%04d.png", idxView), rasterer.mask);
#endif
}
rasterer.Clear();
for (FIndex idxFace : cameraFaces) {
rasterer.validFace = true;
const Face& facet = faces[idxFace];
rasterer.idxFace = idxFace;
bool bExistFace = facesDatas[idxFace].empty();
// 4. 只保留最接近的3个视图
size_t numToKeep = colorDistances.size(); // std::min((size_t)3, colorDistances.size());
Color finalColor = Color::ZERO;
float finalQuality = 0.0f;
if (scene.is_face_visible(strName.c_str(), idxFace) || bExistFace)
{
rasterer.Project(facet, triangleRasterizer);
if (!rasterer.validFace)
rasterer.Project(facet, triangleRasterizer);
}
for (size_t i = 0; i < numToKeep; ++i) {
int viewIdx = colorDistances[i].second;
finalColor += colors[viewIdx];
finalQuality += qualities[viewIdx];
}
tempFaces = PerformLocalDepthConsistencyCheck(depthMap, faceMap, scene.mesh, idxView, strName);
}
// 5. 计算最终颜色和质量
finalColor /= (float)numToKeep;
finalQuality /= (float)numToKeep;
// compute the projection area of visible faces
#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
CLISTDEF0IDX(uint32_t,FIndex) areas(faces.size());
areas.Memset(0);
#endif
#ifdef TEXOPT_USE_OPENMP
#pragma omp critical
#endif
{
for (int j=0; j<faceMap.rows; ++j) {
for (int i=0; i<faceMap.cols; ++i) {
const FIndex& idxFace = faceMap(j,i);
// ASSERT((idxFace == NO_ID && depthMap(j,i) == 0) || (idxFace != NO_ID && depthMap(j,i) > 0));
if (idxFace == NO_ID)
continue;
faceFinalColors[idxFace] = finalColor;
faceFinalQualities[idxFace] = finalQuality;
// 第二步：更新facesDatas，只保留最终颜色和质量
FaceDataArr& faceDatas = facesDatas[idxFace];
const Pixel8U& pixel = imageData.image(j, i);
// 假设是8位图像，RGB三个通道任一超过250即视为过曝
if (pixel.r > 250 || pixel.g > 250 || pixel.b > 250) {
// continue;
}
float brightnessPerceptual = (0.299f * pixel.r + 0.587f * pixel.g + 0.114f * pixel.b) / 255.0f;
// printf("brightnessPerceptual=%f\n", brightnessPerceptual);
if (brightnessPerceptual>0.95f)
continue;
{
if (depthMap(j,i)>999.0f)
{
#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
uint32_t& area = areas[idxFace];
if (area++ == 0) {
#else
if (faceDatas.empty() || faceDatas.back().idxView != idxView) {
#endif
// create new face-data
FaceData& faceData = faceDatas.emplace_back();
faceData.idxView = idxView;
faceData.quality = imageGradMag(j,i);
#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
faceData.color = imageData.image(j,i);
#endif
faceData.bInvalidFacesRelative = true;
} else {
// update face-data
ASSERT(!faceDatas.empty());
FaceData& faceData = faceDatas.back();
ASSERT(faceData.idxView == idxView);
faceData.quality = imageGradMag(j,i);
#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
faceData.color = Color(imageData.image(j,i));
#endif
faceData.bInvalidFacesRelative = true;
}
continue;
}
}
uint32_t& area = areas[idxFace];
if (area++ == 0) {
// create new face-data
FaceData& faceData = faceDatas.emplace_back();
faceData.idxView = idxView;
faceData.quality = imageGradMag(j,i);
#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
faceData.color = imageData.image(j,i);
#endif
if (depthMap(j,i)>999.0f)
faceData.bInvalidFacesRelative = true;
} else {
// update face-data
ASSERT(!faceDatas.empty());
if (!faceDatas.empty()) {
// 只保留第一个FaceData，并用最终颜色和质量更新它
faceDatas.resize(1);
FaceData& faceData = faceDatas.back();
ASSERT(faceData.idxView == idxView);
faceData.quality += imageGradMag(j,i);
#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
faceData.color += Color(imageData.image(j,i));
#endif
if (depthMap(j,i)>999.0f)
faceData.bInvalidFacesRelative = true;
}
}
}
// adjust face quality with camera angle relative to face normal
// tries to increase chances of a camera with perpendicular view on the surface (smoothened normals) to be selected
FOREACH(idxFace, facesDatas) {
FaceDataArr& faceDatas = facesDatas[idxFace];
if (faceDatas.empty() || faceDatas.back().idxView != idxView)
continue;
const Face& f = faces[idxFace];
const Vertex faceCenter((vertices[f[0]] + vertices[f[1]] + vertices[f[2]]) / 3.f);
const Point3f camDir(Cast<Mesh::Type>(imageData.camera.C) - faceCenter);
const Normal& faceNormal = scene.mesh.faceNormals[idxFace];
const float cosFaceCam(MAXF(0.001f, ComputeAngle(camDir.ptr(), faceNormal.ptr())));
faceDatas.back().quality *= SQUARE(cosFaceCam);
}
#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
FOREACH(idxFace, areas) {
const uint32_t& area = areas[idxFace];
if (area > 0) {
Color& color = facesDatas[idxFace].back().color;
color = RGB2YCBCR(Color(color * (1.f/(float)area)));
faceData.quality = finalQuality;
faceData.color = finalColor;
// 注意：这里不再保留原始的idxView，因为颜色是多个视图的混合
// 您可能需要根据需要调整idxView的值
}
}
#endif
}
++progress;
}
//*/
// Temp
@ -3300,6 +3034,7 @@ bool MeshTexture::CreateVirtualFaces6(FaceDataViewArr& facesDatas, FaceDataViewA @@ -3300,6 +3034,7 @@ bool MeshTexture::CreateVirtualFaces6(FaceDataViewArr& facesDatas, FaceDataViewA
if (angleDeg <= 45.0f)
{
if (scene.is_face_normal_visible_map(strName, virtualFaceCenterFaceID))
filteredCams.push_back(idxView);
/*
@ -3323,6 +3058,8 @@ bool MeshTexture::CreateVirtualFaces6(FaceDataViewArr& facesDatas, FaceDataViewA @@ -3323,6 +3058,8 @@ bool MeshTexture::CreateVirtualFaces6(FaceDataViewArr& facesDatas, FaceDataViewA
}
else
{
if (scene.is_face_normal_visible_map(strName, virtualFaceCenterFaceID))
filteredCams.push_back(idxView);
/*
@ -3757,8 +3494,12 @@ bool MeshTexture::CreateVirtualFaces6(FaceDataViewArr& facesDatas, FaceDataViewA @@ -3757,8 +3494,12 @@ bool MeshTexture::CreateVirtualFaces6(FaceDataViewArr& facesDatas, FaceDataViewA
#endif
// virtualFaceData.quality = avgQuality;
// virtualFaceData.color = sortedLuminViews[0].second;
virtualFaceData.quality = medianQuality;
virtualFaceData.color = medianColor;
// virtualFaceData.quality = 0;
// virtualFaceData.color = Point3f::ZERO;
}
else {
// 使用过滤后的视图重新计算平均值
@ -3775,6 +3516,9 @@ bool MeshTexture::CreateVirtualFaces6(FaceDataViewArr& facesDatas, FaceDataViewA @@ -3775,6 +3516,9 @@ bool MeshTexture::CreateVirtualFaces6(FaceDataViewArr& facesDatas, FaceDataViewA
}
virtualFaceData.quality = totalQuality2 / validIndices.size();
virtualFaceData.color = totalColor2 / validIndices.size();
// virtualFaceData.quality = 0;
// virtualFaceData.color = Point3f::ZERO;
}
}
else if (validViewsSize>0&&validViewsSize<=2&&false)
@ -4450,6 +4194,35 @@ MeshTexture::FaceDataArr MeshTexture::MergeFaceData(const FaceDataArr& data1, co @@ -4450,6 +4194,35 @@ MeshTexture::FaceDataArr MeshTexture::MergeFaceData(const FaceDataArr& data1, co
return mergedData;
}
std::string MeshTexture::GetFileNameWithoutExtension(std::string& strPath) {
// 查找最后一个路径分隔符（支持'/'和'\'）
size_t lastSlash = strPath.find_last_of("/\\");
// 确定文件名的起始位置
if (lastSlash == std::string::npos) {
lastSlash = 0; // 没有路径分隔符，从字符串开头开始
} else {
lastSlash++; // 跳过分隔符
}
// 查找最后一个扩展名分隔符'.'的位置
size_t lastDot = strPath.find_last_of('.');
// 如果没有扩展名分隔符，则截取到字符串末尾
if (lastDot == std::string::npos) {
lastDot = strPath.length();
}
// 截取文件名（不含路径和扩展名）
// 注意：如果lastDot <= lastSlash，说明点号在路径中，而不是在文件名中
if (lastDot <= lastSlash) {
// 点号在路径中，没有扩展名
return strPath.substr(lastSlash);
} else {
// 有扩展名，去掉扩展名
return strPath.substr(lastSlash, lastDot - lastSlash);
}
}
bool MeshTexture::CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataViewArr& virtualFacesDatas, VirtualFaceIdxsArr& virtualFaces, std::vector<bool>& isVirtualFace, unsigned minCommonCameras, float thMaxNormalDeviation) const
{
@ -4646,8 +4419,11 @@ bool MeshTexture::CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataView @@ -4646,8 +4419,11 @@ bool MeshTexture::CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataView
}
else
{
// if (angleDeg <= 30.0f)
{
filteredCams.push_back(idxView);
}
/*
float brightnessScore = CalculateBrightnessScore(imageData); // 亮度评分函数
@ -4746,6 +4522,10 @@ bool MeshTexture::CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataView @@ -4746,6 +4522,10 @@ bool MeshTexture::CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataView
#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
virtualFaceData.color = Point3f::ZERO;
#endif
const Image& imageData = images[idxView];
std::string strPath = imageData.name;
std::string strName = MeshTexture::GetFileNameWithoutExtension(strPath);
int invalidQuality = 0;
Color invalidColor = Point3f::ZERO;
unsigned processedFaces(0);
@ -4818,6 +4598,8 @@ bool MeshTexture::CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataView @@ -4818,6 +4598,8 @@ bool MeshTexture::CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataView
if (colorDistance <= maxColorDeviation &&
luminanceDistance <= maxLuminanceDeviation)
{
if (scene.is_face_normal_visible_map(strName, virtualFaceCenterFaceID))
validIndices.push_back(n);
}
else
@ -4842,7 +4624,9 @@ bool MeshTexture::CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataView @@ -4842,7 +4624,9 @@ bool MeshTexture::CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataView
if (cosFaceToCenter<dynamicCosTh)
{
if (nInvalidViewCount<=2)
{
validIndices.push_back(n);
}
else
{
// if ((colorDistance <= 350.0f))
@ -4852,7 +4636,9 @@ bool MeshTexture::CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataView @@ -4852,7 +4636,9 @@ bool MeshTexture::CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataView
else
{
if (nInvalidViewCount<=2)
{
validIndices.push_back(n);
}
else
{
// if (bColorSimilarity)
@ -4942,6 +4728,11 @@ bool MeshTexture::CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataView @@ -4942,6 +4728,11 @@ bool MeshTexture::CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataView
virtualFaceData.quality = medianQuality;
virtualFaceData.color = medianColor;
// virtualFaceData.quality = 0;
// #if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
// virtualFaceData.color = Point3f::ZERO;
// #endif
}
else {
// 使用过滤后的视图重新计算平均值
@ -4953,6 +4744,11 @@ bool MeshTexture::CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataView @@ -4953,6 +4744,11 @@ bool MeshTexture::CreateVirtualFaces62(FaceDataViewArr& facesDatas, FaceDataView
}
virtualFaceData.quality = totalQuality2 / validIndices.size();
virtualFaceData.color = totalColor2 / validIndices.size();
// virtualFaceData.quality = 0;
// #if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
// virtualFaceData.color = Point3f::ZERO;
// #endif
}
}
@ -7630,12 +7426,16 @@ bool MeshTexture::FaceViewSelection3( unsigned minCommonCameras, float fOutlierT @@ -7630,12 +7426,16 @@ bool MeshTexture::FaceViewSelection3( unsigned minCommonCameras, float fOutlierT
}
//*/
//*
// int n = 0;
// 修改后安全版本
FOREACH(l, labels) {
if (l < mapFaceToVirtualFace.size()) {
const size_t virtualIdx = mapFaceToVirtualFace[l];
if (virtualIdx < virtualLabels.size()) {
// if (n < 100)
labels[l] = virtualLabels[virtualIdx];
// else
// labels[l] = NO_ID;
} else {
labels[l] = NO_ID;
DEBUG_EXTRA("Warning: Invalid virtual face index for face %u: %u (max: %u)",
@ -7646,6 +7446,8 @@ bool MeshTexture::FaceViewSelection3( unsigned minCommonCameras, float fOutlierT @@ -7646,6 +7446,8 @@ bool MeshTexture::FaceViewSelection3( unsigned minCommonCameras, float fOutlierT
DEBUG_EXTRA("Warning: Face index out of bounds: %u (max: %u)",
l, mapFaceToVirtualFace.size()-1);
}
// ++n;
}
//*/
// 修改后安全版本
@ -10600,6 +10402,7 @@ bool Scene::LoadVisibleFacesData(std::map<std::string, std::unordered_set<int>>& @@ -10600,6 +10402,7 @@ bool Scene::LoadVisibleFacesData(std::map<std::string, std::unordered_set<int>>&
std::unordered_set<int>& face_visible_relative,
std::map<std::string, std::unordered_set<int>>& edge_faces_map,
std::map<std::string, std::unordered_set<int>>& delete_edge_faces_map,
std::map<std::string, std::unordered_set<int>>& face_normal_visible_map,
std::string& basePath) {
printf("LoadVisibleFacesData %s\n", basePath.c_str());
std::ifstream mapFile(basePath + "_visible_faces_map.txt");
@ -10668,6 +10471,24 @@ bool Scene::LoadVisibleFacesData(std::map<std::string, std::unordered_set<int>>& @@ -10668,6 +10471,24 @@ bool Scene::LoadVisibleFacesData(std::map<std::string, std::unordered_set<int>>&
}
mapFile3.close();
std::ifstream mapFile4(basePath + "_face_normal_visible_map.txt");
if (!mapFile4.is_open()) {
return false;
}
while (std::getline(mapFile4, line)) {
std::istringstream iss(line);
std::string image_name;
iss >> image_name;
std::unordered_set<int> faces;
int face_index;
while (iss >> face_index) {
faces.insert(face_index);
}
face_normal_visible_map[image_name] = faces;
}
mapFile4.close();
return true;
}
@ -10766,7 +10587,7 @@ bool Scene::TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsi @@ -10766,7 +10587,7 @@ bool Scene::TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsi
// printf("basePath=%s\n", basePath.c_str());
if (!LoadVisibleFacesData(visible_faces_map, face_visible_relative, edge_faces_map, delete_edge_faces_map, basePath))
if (!LoadVisibleFacesData(visible_faces_map, face_visible_relative, edge_faces_map, delete_edge_faces_map, face_normal_visible_map, basePath))
{
printf("LoadVisibleFacesData error\n");
}
@ -10920,6 +10741,20 @@ bool Scene::is_face_delete_edge(const std::string& image_name, int face_index) { @@ -10920,6 +10741,20 @@ bool Scene::is_face_delete_edge(const std::string& image_name, int face_index) {
return false;
}
bool Scene::is_face_normal_visible_map(const std::string& image_name, int face_index) {
#ifndef MASK_FACE_OCCLUSION
return true;
#endif
auto it = face_normal_visible_map.find(image_name);
if (it != face_normal_visible_map.end()) {
return it->second.find(face_index) != it->second.end();
}
return false;
}
void Scene::SegmentMeshBasedOnCurvature(Mesh::FaceIdxArr& regionMap, float curvatureThreshold) {
// 确保网格数据有效
if (mesh.faces.empty() || mesh.vertices.empty() ||

100
libs/MVS/mask_face_occlusion.py
Unescape View File

@ -1352,6 +1352,80 @@ class ModelProcessor: @@ -1352,6 +1352,80 @@ class ModelProcessor:
face_visible = v0_visible | v1_visible | v2_visible
# ============ 新增：法线夹角过滤 ============
# 1. 获取面片法线（向量化计算，性能更好）
if not hasattr(self, 'face_normals_tensor'):
# 从mesh获取顶点和面片索引
vertices = np.asarray(self.mesh.vertices) # 形状: (V, 3)
triangles = np.asarray(self.mesh.triangles) # 形状: (F, 3)
# 向量化计算法线
# 获取所有三角形的顶点
v0 = vertices[triangles[:, 0]] # 形状: (F, 3)
v1 = vertices[triangles[:, 1]] # 形状: (F, 3)
v2 = vertices[triangles[:, 2]] # 形状: (F, 3)
# 计算边向量
edge1 = v1 - v0
edge2 = v2 - v0
# 向量化叉积
# np.cross支持批量计算
normals = np.cross(edge1, edge2)
# 计算法线长度
norms = np.linalg.norm(normals, axis=1, keepdims=True)
# 避免除零
norms[norms < 1e-6] = 1.0
# 归一化
normals = normals / norms
# 将退化三角形的法线设为默认值
mask = norms[:, 0] < 1e-6
if np.any(mask):
normals[mask] = np.array([0.0, 0.0, 1.0])
# 转换为GPU张量
self.face_normals_tensor = torch.tensor(normals, device=self.device, dtype=torch.float32)
# 2. 计算摄像机方向（从面片中心指向摄像机）
# 获取面片顶点坐标
v0_pos = self.vertices_tensor[v0_indices]
v1_pos = self.vertices_tensor[v1_indices]
v2_pos = self.vertices_tensor[v2_indices]
# 计算面片中心
face_centers = (v0_pos + v1_pos + v2_pos) / 3.0
# 计算摄像机方向向量
camera_pos = torch.tensor(eye, device=self.device, dtype=torch.float32)
if len(camera_pos.shape) == 1:
camera_pos = camera_pos.unsqueeze(0) # 从(3)变为(1,3)
# 方向：从面片中心指向摄像机
view_dirs = camera_pos - face_centers
view_dirs = view_dirs / torch.norm(view_dirs, dim=1, keepdim=True)
# 3. 计算法线与摄像机方向的夹角
face_normals = self.face_normals_tensor
# 归一化法线
face_normals = face_normals / torch.norm(face_normals, dim=1, keepdim=True)
# 计算点积（余弦值）
cos_angles = torch.sum(face_normals * view_dirs, dim=1)
# 计算角度（弧度转角度）
angles_deg = torch.acos(torch.clamp(cos_angles, -1.0, 1.0)) * 180.0 / torch.pi
# 4. 创建法线可见性掩码（夹角 ≤ 45度）
normal_visible_mask = angles_deg <= 70.0
# 5. 结合遮挡可见性和法线可见性
face_normal_visible = face_visible & normal_visible_mask
# ============ 法线夹角过滤结束 ============
# 使用与CPU版本相同的后续处理
shrunk_visibility = self._shrink_face_visibility(face_visible.cpu().numpy(), 9)
expanded_visibility = self._expand_face_visibility(face_visible.cpu().numpy(), 30)
@ -1359,7 +1433,7 @@ class ModelProcessor: @@ -1359,7 +1433,7 @@ class ModelProcessor:
expanded_edge = expanded_visibility & ~shrunk_visibility2
delete_edge = face_visible.cpu().numpy() & ~shrunk_visibility
return shrunk_visibility, expanded_edge, delete_edge
return shrunk_visibility, expanded_edge, delete_edge, face_normal_visible
"""
def _gen_depth_image_gpu(self, cam_data, render):
@ -1390,6 +1464,7 @@ class ModelProcessor: @@ -1390,6 +1464,7 @@ class ModelProcessor:
visible_faces_dict = {}
edge_faces_dict = {}
delete_edge_faces_dict = {}
face_normal_visible_dict = {}
total_start = time.time()
@ -1415,13 +1490,14 @@ class ModelProcessor: @@ -1415,13 +1490,14 @@ class ModelProcessor:
# continue
start_time = time.time()
face_visibility, face_edge, face_delete_edge = self._flag_model_gpu(camera_data)
face_visibility, face_edge, face_delete_edge, face_normal_visible = self._flag_model_gpu(camera_data)
processing_time = time.time() - start_time
visible_faces = np.where(face_visibility)[0].tolist()
visible_faces_dict[img_name] = visible_faces
edge_faces_dict[img_name] = np.where(face_edge)[0].tolist()
delete_edge_faces_dict[img_name] = np.where(face_delete_edge)[0].tolist()
face_normal_visible_dict[img_name] = np.where(face_normal_visible.cpu().numpy())[0].tolist()
print(f"图像 {img_name} 处理完成，耗时: {processing_time:.2f}秒，可见面数量{len(visible_faces)}")
@ -1429,12 +1505,13 @@ class ModelProcessor: @@ -1429,12 +1505,13 @@ class ModelProcessor:
print(f"所有图像处理完成，总耗时: {total_time:.2f}秒")
print(f"平均每张图像耗时: {total_time/len(images):.2f}秒")
self.save_occlusion_data(visible_faces_dict, edge_faces_dict, delete_edge_faces_dict, self.asset_dir)
self.save_occlusion_data(visible_faces_dict, edge_faces_dict, delete_edge_faces_dict, face_normal_visible_dict, self.asset_dir)
return {
"result1": visible_faces_dict,
"result2": edge_faces_dict,
"result3": delete_edge_faces_dict
"result3": delete_edge_faces_dict,
"result4": face_normal_visible_dict
}
#"""
@ -2020,6 +2097,7 @@ class ModelProcessor: @@ -2020,6 +2097,7 @@ class ModelProcessor:
def save_occlusion_data(self, result1: Dict[str, List[int]],
result2: Dict[str, List[int]],
result3: Dict[str, List[int]],
result4: Dict[str, List[int]],
base_path: str) -> None:
"""
保存遮挡数据到文件
@ -2055,6 +2133,9 @@ class ModelProcessor: @@ -2055,6 +2133,9 @@ class ModelProcessor:
for image_name, face_list in result3.items():
delete_edge_faces_map[image_name] = set(face_list)
face_normal_visible_map: Dict[str, Set[int]] = {}
for image_name, face_list in result4.items():
face_normal_visible_map[image_name] = set(face_list)
# 保存 visible_faces_map
try:
@ -2100,6 +2181,17 @@ class ModelProcessor: @@ -2100,6 +2181,17 @@ class ModelProcessor:
except IOError as e:
print(f"Error writing delete_edge_faces_map file: {e}")
# 保存 face_normal_visible_map
try:
file_name = "_face_normal_visible_map.txt"
file_path = Path(base_path) / file_name
with open(file_path, "w", encoding='utf-8') as map_file4:
for image_name, face_set in face_normal_visible_map.items():
line = image_name + " " + " ".join(str(face) for face in face_set) + "\n"
map_file4.write(line)
except IOError as e:
print(f"Error writing delete_edge_faces_map file: {e}")
def process(self):
print("process")

Write Preview
Loading…
Cancel
Save