合并小三角形

libs/MVS/SceneTexture.cpp

@@ -539,6 +539,14 @@ struct MeshTexture {
 		}
 	};
 
+	struct VirtualFaceGeometry {
+		Point3f center;           // 面片中心（世界坐标）
+		Point3f normal;           // 面片法线
+		AABB2f uvBounds;          // UV 包围盒
+		cv::Mat1f homography;     // 3x3 单应矩阵（从 UV 到视图）
+		bool isValid = false;
+	};
+
 	// used to interpolate adjustments color over the whole texture patch
 	typedef TImage<Color> ColorMap;
 
@@ -550,6 +558,7 @@ struct MeshTexture {
 			: r(_r), g(_g), b(_b), a(_a) {}
 	};
 	*/
+	std::vector<VirtualFaceGeometry> m_virtualFaceGeometries;
 
 public:
 	MeshTexture(Scene& _scene, unsigned _nResolutionLevel=0, unsigned _nMinResolution=640);
@@ -621,12 +630,20 @@ public:
                                                 unsigned minCommonCameras, float fOutlierThreshold,
                                                 float fRatioDataSmoothness, int nIgnoreMaskLabel, 
                                                 const IIndexArr& views);
+
+    bool ComputeVirtualFaceGeometry(const VirtualFaceMap& virtualFaceMap);
+    
+    bool ComputeHomographyForVirtualFace(
+        const VirtualFace& vf,
+        IIndex viewID,
+        VirtualFaceGeometry& geom);
+
 	std::vector<std::vector<IIndex>> faceViews;
     std::vector<std::vector<float>> faceViewWeights;
 
     std::vector<VirtualFaceData> virtualFaceDatas;
     std::vector<std::vector<IIndex>> faceNeighbors;
-	VirtualFaceGeometryArr m_virtualFaceGeometries;
+	// VirtualFaceGeometryArr m_virtualFaceGeometries;
 
 	inline Point3f NormalizePoint3(Point3f& p)
 	{
@@ -14161,6 +14178,9 @@ void MeshTexture::FillTextureHoles(std::vector<Image8U3>& textures, Pixel8U colE
     DEBUG_EXTRA("Hole filling completed");
 }
 
+// ============================================================
+// 3. RC 风格光栅化主函数
+// ============================================================
 bool MeshTexture::RasterizeVirtualFaces(
     const VirtualFaceMap& virtualFaceMap,
     const std::vector<std::vector<IIndex>>& virtualFaceViews,
@@ -14169,7 +14189,7 @@ bool MeshTexture::RasterizeVirtualFaces(
     Pixel8U colEmpty,
     Mesh::Image8U3Arr& outTextures)
 {
-    DEBUG_EXTRA("Forward Rasterization Engine: Starting...");
+    DEBUG_EXTRA("RC-style Rasterization Engine: Starting...");
     TD_TIMER_START();
 
     if (virtualFaceMap.empty() || virtualFaceViews.size() != virtualFaceMap.size())
@@ -14190,162 +14210,109 @@ bool MeshTexture::RasterizeVirtualFaces(
     int textureSize = ComputeOptimalTextureSize(uvWidth, uvHeight, nTextureSizeMultiple);
 
     // --------------------------------------------------
-    // 2. 创建纹理与缓冲器
+    // 2. 创建纹理
     // --------------------------------------------------
     outTextures.emplace_back(textureSize, textureSize);
     Image8U3& atlas = outTextures.back();
     atlas.setTo(cv::Scalar(colEmpty.b, colEmpty.g, colEmpty.r));
 
-    // ✅ 深度缓冲器初始化为正无穷（越小越近）
-    cv::Mat1f depthBuffer(textureSize, textureSize, FLT_MAX);
-    cv::Mat3f colorBuffer(textureSize, textureSize, cv::Vec3f(0.f, 0.f, 0.f));
-    cv::Mat1b validBuffer(textureSize, textureSize, (uchar)0);
+    // ✅ 计算所有虚拟面的几何和映射矩阵
+    if (!ComputeVirtualFaceGeometry(virtualFaceMap)) {
+        DEBUG_EXTRA("Failed to compute virtual face geometries");
+        return false;
+    }
 
     // --------------------------------------------------
-    // 3. 正向光栅化主循环
+    // 3. RC 风格光栅化：按虚拟面批量处理
     // --------------------------------------------------
 #ifdef _USE_OPENMP
 #pragma omp parallel for schedule(dynamic)
 #endif
-    for (int_t idxVF = 0; idxVF < (int_t)virtualFaceMap.size(); ++idxVF) {
-        if (virtualFaceViews[idxVF].empty())
+    for (int i = 0; i < (int)virtualFaceMap.size(); ++i) {
+        const VirtualFace& vf = virtualFaceMap[i];
+        const VirtualFaceGeometry& geom = m_virtualFaceGeometries[i];
+
+        if (!geom.isValid || vf.faces.empty() || virtualFaceViews[i].empty())
             continue;
 
-        const IIndex viewID = virtualFaceViews[idxVF][0];
+        IIndex viewID = virtualFaceViews[i][0];
         if (viewID >= (IIndex)images.size()) continue;
-        
+
         const Image& srcImg = images[viewID];
         if (srcImg.image.empty() || srcImg.image.cols < 2 || srcImg.image.rows < 2)
             continue;
-            
-        const Camera& cam = srcImg.camera;
-        const int srcW = srcImg.image.cols;
-        const int srcH = srcImg.image.rows;
 
-        for (FIndex faceID : virtualFaceMap[idxVF].faces) {
-            if (faceID >= (FIndex)scene.mesh.faces.size()) continue;
-            
-            const Face& face = scene.mesh.faces[faceID];
-            const TexCoord* uv = &scene.mesh.faceTexcoords[faceID * 3];
-            
-            // 验证顶点索引
-            bool validIndices = true;
-            for (int i = 0; i < 3; ++i) {
-                if (face[i] >= scene.mesh.vertices.size()) {
-                    validIndices = false;
-                    break;
-                }
-            }
-            if (!validIndices) continue;
-            
-            const Point3f* verts[3] = {
-                &scene.mesh.vertices[face[0]],
-                &scene.mesh.vertices[face[1]],
-                &scene.mesh.vertices[face[2]]
-            };
+        // ✅ UV 包围盒 → 纹理像素范围
+        int minX = std::max(0, (int)floor(geom.uvBounds.ptMin.x() * textureSize));
+        int maxX = std::min(textureSize - 1, (int)ceil(geom.uvBounds.ptMax.x() * textureSize));
+        int minY = std::max(0, (int)floor(geom.uvBounds.ptMin.y() * textureSize));
+        int maxY = std::min(textureSize - 1, (int)ceil(geom.uvBounds.ptMax.y() * textureSize));
 
-            // 计算包围盒
-            float minU = std::min({uv[0].x, uv[1].x, uv[2].x});
-            float maxU = std::max({uv[0].x, uv[1].x, uv[2].x});
-            float minV = std::min({uv[0].y, uv[1].y, uv[2].y});
-            float maxV = std::max({uv[0].y, uv[1].y, uv[2].y});
-            
-            int minX = std::max(0, (int)floor(minU * textureSize));
-            int maxX = std::min(textureSize - 1, (int)ceil(maxU * textureSize));
-            int minY = std::max(0, (int)floor(minV * textureSize));
-            int maxY = std::min(textureSize - 1, (int)ceil(maxV * textureSize));
-            
-            if (minX > maxX || minY > maxY) continue;
+        if (minX > maxX || minY > maxY) continue;
 
-            // ✅ 预计算顶点深度（用于透视校正）
-            float vertexDepths[3];
-            for (int i = 0; i < 3; ++i) {
-                vertexDepths[i] = cam.PointDepth(*verts[i]);
-                if (vertexDepths[i] <= 0.0f) {
-                    validIndices = false;
-                    break;
+        int patchW = maxX - minX + 1;
+        int patchH = maxY - minY + 1;
+
+        // ✅ 映射矩阵
+        cv::Mat mapX(patchH, patchW, CV_32FC1);
+        cv::Mat mapY(patchH, patchW, CV_32FC1);
+
+        // ✅ 直接展开 H 系数（无临时 Mat，RC 标准写法）
+        const float* H = geom.homography.ptr<float>();
+
+        for (int y = minY; y <= maxY; ++y) {
+            for (int x = minX; x <= maxX; ++x) {
+                float u = (float)x / (float)textureSize;
+                float v = (float)y / (float)textureSize;
+
+                float w = H[6] * u + H[7] * v + H[8];
+
+                // ✅ 数值保护（防止除零）
+                if (std::abs(w) < 1e-12f) {
+                    mapX.at<float>(y - minY, x - minX) = -1.0f;
+                    mapY.at<float>(y - minY, x - minX) = -1.0f;
+                    continue;
                 }
-            }
-            if (!validIndices) continue;
 
-			for (int y = minY; y <= maxY; ++y) {
-				for (int x = minX; x <= maxX; ++x) {
-					Point2f texCoord(
-						(x + 0.5f) / textureSize,
-						(y + 0.5f) / textureSize
-					);
+                float imgX = (H[0] * u + H[1] * v + H[2]) / w;
+                float imgY = (H[3] * u + H[4] * v + H[5]) / w;
 
-					Point3f bary;
-					if (!PointInTriangle(texCoord, uv[0], uv[1], uv[2], bary))
-						continue;
+                mapX.at<float>(y - minY, x - minX) = imgX;
+                mapY.at<float>(y - minY, x - minX) = imgY;
+            }
+        }
 
-					// ✅ 透视校正插值（double 精度）
-					double invZ = bary.x / vertexDepths[0] +
-								bary.y / vertexDepths[1] +
-								bary.z / vertexDepths[2];
-					if (invZ <= 0.0) continue;
-
-					// ✅ 校正后的重心坐标
-					double u0 = (bary.x / vertexDepths[0]) / invZ;
-					double u1 = (bary.y / vertexDepths[1]) / invZ;
-					double u2 = (bary.z / vertexDepths[2]) / invZ;
-
-					// ✅ 透视校正的世界坐标（double）
-					Point3d P_double(
-						verts[0]->x * u0 + verts[1]->x * u1 + verts[2]->x * u2,
-						verts[0]->y * u0 + verts[1]->y * u1 + verts[2]->y * u2,
-						verts[0]->z * u0 + verts[1]->z * u1 + verts[2]->z * u2
-					);
-
-					// ✅ 正确的投影（double → float）
-					Point2d imgPtDouble = cam.ProjectPoint(P_double);
-					Point2f imgPt(static_cast<float>(imgPtDouble.x),
-								static_cast<float>(imgPtDouble.y));
-
-					// ✅ 边界检查
-					if (imgPt.x < 0.5f || imgPt.y < 0.5f ||
-						imgPt.x >= srcW - 0.5f || imgPt.y >= srcH - 0.5f)
-						continue;
+        // ✅ 一次性 remap 整个 patch
+        cv::Mat patch;
+        cv::remap(srcImg.image, patch, mapX, mapY,
+                  cv::INTER_LINEAR, cv::BORDER_CONSTANT,
+                  cv::Scalar(0, 0, 0));
 
-					// ✅ 双线性采样
-					Color color = BilinearSample(srcImg.image, imgPt);
-					if (color[0] < 0 || color[1] < 0 || color[2] < 0) continue;
+        // ✅ 拷贝到 atlas（OpenMP critical 区）
+#pragma omp critical
+        {
+            for (int y = 0; y < patchH; ++y) {
+                for (int x = 0; x < patchW; ++x) {
+                    cv::Vec3b color = patch.at<cv::Vec3b>(y, x);
+                    // 跳过无效像素（BORDER_CONSTANT 产生的黑色）
+                    if (color[0] == 0 && color[1] == 0 && color[2] == 0)
+                        continue;
 
-					// ✅ 深度测试（float 缓冲，double 比较）
-					float depthFloat = static_cast<float>(1.0 / invZ);
+                    int atlasX = x + minX;
+                    int atlasY = y + minY;
 
-					#pragma omp critical
-					{
-						if (depthFloat < depthBuffer(y, x)) {
-							depthBuffer(y, x) = depthFloat;
-							colorBuffer(y, x) = cv::Vec3f(
-								color[0], color[1], color[2]
-							);
-							validBuffer(y, x) = 1;
-						}
-					}
-				}
-			}
-		}
-	}
+                    // ✅ 边界保护
+                    if (atlasX < 0 || atlasX >= textureSize ||
+                        atlasY < 0 || atlasY >= textureSize)
+                        continue;
 
-    // --------------------------------------------------
-    // 4. 最终写入纹理
-    // --------------------------------------------------
-    for (int y = 0; y < textureSize; ++y) {
-        for (int x = 0; x < textureSize; ++x) {
-            if (validBuffer(y, x)) {
-                cv::Vec3f c = colorBuffer(y, x);
-                atlas(y, x) = Pixel8U{
-                    (unsigned char)cv::saturate_cast<uchar>(c[0]),
-                    (unsigned char)cv::saturate_cast<uchar>(c[1]),
-                    (unsigned char)cv::saturate_cast<uchar>(c[2])
-                };
+                    atlas(atlasY, atlasX) = Pixel8U{color[2], color[1], color[0]};
+                }
             }
         }
     }
 
-    DEBUG_EXTRA("Forward Rasterization completed: %s", TD_TIMER_GET_FMT().c_str());
+    DEBUG_EXTRA("RC-style Rasterization completed: %s", TD_TIMER_GET_FMT().c_str());
     return true;
 }
 
@@ -14639,92 +14606,76 @@ bool MeshTexture::GenerateTextureWithVirtualFaces(bool bGlobalSeamLeveling, bool
     }
 }
 
-bool MeshTexture::SelectBestViewsForVirtualFaces(VirtualFaceMap& virtualFaceMap, 
-                                                unsigned minCommonCameras, float fOutlierThreshold,
-                                                float fRatioDataSmoothness, int nIgnoreMaskLabel, 
-                                                const IIndexArr& views)
+// ============================================================
+// 5. SelectBestViewsForVirtualFaces（带 patch 一致性传播）
+// ============================================================
+bool MeshTexture::SelectBestViewsForVirtualFaces(
+    VirtualFaceMap& virtualFaceMap,
+    unsigned minCommonCameras, float fOutlierThreshold,
+    float fRatioDataSmoothness, int nIgnoreMaskLabel,
+    const IIndexArr& views)
 {
     DEBUG_EXTRA("Selecting best views for %zu virtual faces", virtualFaceMap.size());
 
     faceViews.resize(virtualFaceMap.size());
     faceViewWeights.resize(virtualFaceMap.size());
 
-    if (m_virtualFaceGeometries.empty() ||
-        m_virtualFaceGeometries.size() < virtualFaceMap.size()) {
-        m_virtualFaceGeometries.Resize(virtualFaceMap.size());
+    for (auto& v : faceViews) v.clear();
+    for (auto& w : faceViewWeights) w.clear();
+
+    // 确保 faceNeighbors 已填充
+    if (faceNeighbors.empty()) {
+        DEBUG_EXTRA("faceNeighbors empty, running ComputePureFaceVisibility first");
+        if (!ComputePureFaceVisibility(fOutlierThreshold, nIgnoreMaskLabel, views)) {
+            return false;
+        }
     }
 
-    for (auto& viewList : faceViews) viewList.clear();
-    for (auto& weightList : faceViewWeights) weightList.clear();
+    // faceToView 映射
+    std::vector<IIndex> faceToView(scene.mesh.faces.size(), NO_ID);
 
-    // ===== Debug 统计 =====
+    // ---------- 1. 初始视图分配 ----------
     size_t emptyCandidateViews = 0;
-    size_t emptyCommonViews = 0;
     size_t fallbackByCenterFace = 0;
     size_t successVF = 0;
 
-    // ✅ 面片 → 视图 映射表
-    std::vector<IIndex> faceToView(scene.mesh.faces.size(), NO_ID);
-
-    // ----------------------------------------------------------------
-    // 1. 初始视图分配
-    // ----------------------------------------------------------------
     for (size_t i = 0; i < virtualFaceMap.size(); ++i) {
         const VirtualFace& vf = virtualFaceMap[i];
         if (vf.faces.empty()) continue;
 
-        FIndex faceID2 = vf.faces[0];
-        if (faceID2 >= faceNeighbors.size()) {
-            DEBUG_EXTRA("FATAL: faceID %u out of range!", faceID2);
-            continue;
-        }
+        FIndex faceID = vf.faces[0];
+        if (faceID >= faceNeighbors.size()) continue;
 
         // 收集候选视图
         std::unordered_set<IIndex> candidateViews;
-        for (FIndex faceID : vf.faces) {
-            if (faceID >= faceNeighbors.size()) continue;
-            for (IIndex viewID : faceNeighbors[faceID]) {
-                if (views.empty() || views.FindFirst(viewID) != NO_ID) {
-                    candidateViews.insert(viewID);
+        for (FIndex fid : vf.faces) {
+            if (fid >= faceNeighbors.size()) continue;
+            for (IIndex vid : faceNeighbors[fid]) {
+                if (views.empty() || views.FindFirst(vid) != NO_ID) {
+                    candidateViews.insert(vid);
                 }
             }
         }
 
-        // ------------------------------------------------------------
-        // 2. 兜底：候选视图为空
-        // ------------------------------------------------------------
         if (candidateViews.empty()) {
             ++emptyCandidateViews;
-
-            IIndex forcedView = NO_ID;
-            if (!views.empty()) {
-                forcedView = views[0];
-            } else if (!images.empty()) {
-                forcedView = 0;
-            }
-
+            // 兜底：用第一个可用视图
+            IIndex forcedView = (!views.empty()) ? views[0] :
+                                (!images.empty()) ? 0 : NO_ID;
             if (forcedView != NO_ID) {
                 faceViews[i].push_back(forcedView);
                 faceViewWeights[i].push_back(1.0f);
-
                 for (FIndex fid : vf.faces) {
                     if (fid < faceToView.size())
                         faceToView[fid] = forcedView;
                 }
-
                 ++fallbackByCenterFace;
-                continue;
             }
-
-            DEBUG_EXTRA("VF[%zu] truly hopeless: no images available", i);
             continue;
         }
 
-        // ------------------------------------------------------------
-        // 3. 选择最佳视图（简单策略：第一个候选）
-        // ------------------------------------------------------------
+        // 选第一个候选（简单策略，后续可优化为角度最优）
         IIndex bestView = *candidateViews.begin();
-
         faceViews[i].push_back(bestView);
         faceViewWeights[i].push_back(1.0f);
 
@@ -14732,13 +14683,10 @@ bool MeshTexture::SelectBestViewsForVirtualFaces(VirtualFaceMap& virtualFaceMap,
             if (fid < faceToView.size())
                 faceToView[fid] = bestView;
         }
-
         ++successVF;
     }
 
-    // ----------------------------------------------------------------
-    // 4. 【轻量 Patch 一致性传播】
-    // ----------------------------------------------------------------
+    // ---------- 2. Patch 一致性传播 ----------
     if (scene.mesh.faceFaces.empty()) {
         scene.mesh.ListIncidenteFaceFaces();
     }
@@ -14777,13 +14725,10 @@ bool MeshTexture::SelectBestViewsForVirtualFaces(VirtualFaceMap& virtualFaceMap,
                 newFaceToView[fid] = majorityView;
             }
         }
-
         faceToView.swap(newFaceToView);
     }
 
-    // ----------------------------------------------------------------
-    // 5. 根据传播后的结果，更新 virtual face 的视图
-    // ----------------------------------------------------------------
+    // ---------- 3. 写回 ----------
     for (size_t i = 0; i < virtualFaceMap.size(); ++i) {
         const VirtualFace& vf = virtualFaceMap[i];
         if (vf.faces.empty() || faceViews[i].empty()) continue;
@@ -14796,22 +14741,150 @@ bool MeshTexture::SelectBestViewsForVirtualFaces(VirtualFaceMap& virtualFaceMap,
         }
     }
 
-    // ----------------------------------------------------------------
-    // 6. Debug 汇总
-    // ----------------------------------------------------------------
     DEBUG_EXTRA("====== Virtual Face View Selection Summary ======");
     DEBUG_EXTRA("Total virtual faces      : %zu", virtualFaceMap.size());
     DEBUG_EXTRA("Successfully assigned    : %zu", successVF);
     DEBUG_EXTRA("Empty candidates         : %zu", emptyCandidateViews);
     DEBUG_EXTRA("Fallback by center face  : %zu", fallbackByCenterFace);
-    DEBUG_EXTRA("Empty after relaxation   : %zu", emptyCommonViews);
-    DEBUG_EXTRA("Expected empty ratio     : %.2f%%",
-                100.0 * (emptyCandidateViews - fallbackByCenterFace) / virtualFaceMap.size());
     DEBUG_EXTRA("=================================================");
 
     return true;
 }
 
+// ============================================================
+// 1. 计算虚拟面几何（Affine for triangle, Homography for patch）
+// ============================================================
+bool MeshTexture::ComputeVirtualFaceGeometry(const VirtualFaceMap& virtualFaceMap) {
+    // ✅ std::vector 用 resize
+    m_virtualFaceGeometries.resize(virtualFaceMap.size());
+
+#ifdef _USE_OPENMP
+#pragma omp parallel for schedule(dynamic)
+#endif
+    for (int i = 0; i < (int)virtualFaceMap.size(); ++i) {
+        const VirtualFace& vf = virtualFaceMap[i];
+        VirtualFaceGeometry& geom = m_virtualFaceGeometries[i];
+
+        if (vf.faces.empty() || faceViews[i].empty()) {
+            geom.isValid = false;
+            continue;
+        }
+
+        IIndex viewID = faceViews[i][0];
+        geom.isValid = ComputeHomographyForVirtualFace(vf, viewID, geom);
+    }
+
+    return true;
+}
+
+// ============================================================
+// 2. 核心：计算单应矩阵 / 仿射矩阵
+//    - 3 个点 → Affine（getAffineTransform）
+//    - ≥ 4 个点 → Homography（findHomography）
+// ============================================================
+bool MeshTexture::ComputeHomographyForVirtualFace(
+    const VirtualFace& vf,
+    IIndex viewID,
+    VirtualFaceGeometry& geom)
+{
+    if (viewID >= (IIndex)images.size()) return false;
+    const Camera& cam = images[viewID].camera;
+
+    // ---------- 1. 收集顶点和 UV ----------
+    std::vector<Point3f> points3D;
+    std::vector<Point2f> pointsUV;
+    points3D.reserve(vf.faces.size() * 3);
+    pointsUV.reserve(vf.faces.size() * 3);
+
+    for (FIndex faceID : vf.faces) {
+        if (faceID >= (FIndex)scene.mesh.faces.size()) continue;
+
+        const Face& face = scene.mesh.faces[faceID];
+        const TexCoord* uv = &scene.mesh.faceTexcoords[faceID * 3];
+
+        for (int i = 0; i < 3; ++i) {
+            if (face[i] >= scene.mesh.vertices.size()) continue;
+
+            points3D.push_back(scene.mesh.vertices[face[i]]);
+            pointsUV.push_back(Point2f(uv[i].x, uv[i].y));
+        }
+    }
+
+    if (points3D.size() < 3) return false;
+
+    // ---------- 2. 计算中心（OpenCV 风格）----------
+    geom.center = Point3f(0, 0, 0);
+    for (const auto& p : points3D) geom.center += p;
+    geom.center *= 1.0f / (float)points3D.size();
+
+    // ---------- 3. 计算法线（OpenCV 风格）----------
+    if (!vf.faces.empty()) {
+        FIndex faceID = vf.faces[0];
+        const Face& face = scene.mesh.faces[faceID];
+        const Point3f& v0 = scene.mesh.vertices[face[0]];
+        const Point3f& v1 = scene.mesh.vertices[face[1]];
+        const Point3f& v2 = scene.mesh.vertices[face[2]];
+
+        Point3f edge1 = v1 - v0;
+        Point3f edge2 = v2 - v0;
+        Point3f normal = edge1.cross(edge2);
+
+        float length = cv::norm(normal);
+        if (length > 1e-8f) {
+            normal *= 1.0f / length;
+        } else {
+            normal = Point3f(0, 0, 1);
+        }
+        geom.normal = normal;
+    }
+
+    // ---------- 4. UV 包围盒 ----------
+    geom.uvBounds.Reset();
+    for (const auto& uv : pointsUV) {
+        geom.uvBounds.InsertFull(uv);
+    }
+
+    // ---------- 5. 投影到图像空间（double → float）----------
+    std::vector<Point2f> pointsImage;
+    pointsImage.reserve(points3D.size());
+
+    for (const auto& p3D : points3D) {
+        Point3d p64(p3D.x, p3D.y, p3D.z);
+        Point2d proj = cam.ProjectPoint(p64);
+        pointsImage.emplace_back((float)proj.x, (float)proj.y);
+    }
+
+    // ---------- 6. 核心分支：Affine vs Homography ----------
+    if (pointsUV.size() == 3) {
+        // ✅ 三角形：用仿射变换（Affine = 精确映射）
+        cv::Point2f src[3] = {pointsUV[0], pointsUV[1], pointsUV[2]};
+        cv::Point2f dst[3] = {pointsImage[0], pointsImage[1], pointsImage[2]};
+
+        cv::Mat affine = cv::getAffineTransform(src, dst);
+        if (affine.empty()) return false;
+
+        // 转成 3x3 齐次矩阵（与 Homography 统一格式）
+        geom.homography = cv::Mat1f(3, 3, 0.0f);
+        for (int r = 0; r < 2; ++r) {
+            for (int c = 0; c < 3; ++c) {
+                geom.homography(r, c) = affine.at<double>(r, c);
+            }
+        }
+        geom.homography(2, 2) = 1.0f;
+    }
+    else if (pointsUV.size() >= 4) {
+        // ✅ Patch：用 RANSAC 单应矩阵
+        geom.homography = cv::findHomography(
+            pointsUV, pointsImage, cv::RANSAC, 2.0);
+    }
+    else {
+        return false;
+    }
+
+    geom.isValid = !geom.homography.empty();
+    return geom.isValid;
+}
+
 bool MeshTexture::GenerateTextureWithVirtualFacesInternal(bool bGlobalSeamLeveling, bool bLocalSeamLeveling,
                                                         unsigned nTextureSizeMultiple, unsigned nRectPackingHeuristic,
                                                         Pixel8U colEmpty, float fSharpnessWeight, int maxTextureSize,
@@ -14918,282 +14991,34 @@ bool MeshTexture::ConvertVectorToVirtualFaceDataArr(const std::vector<VirtualFac
     
     return true;
 }
+
+// ============================================================
+// 4. CreateVirtualFacesForExistingUV（简化版）
+// ============================================================
 bool MeshTexture::CreateVirtualFacesForExistingUV(VirtualFaceMap& virtualFaceMap) {
-    DEBUG_EXTRA("Creating virtual faces for existing UV texture mapping");
+    DEBUG_EXTRA("Creating virtual faces for existing UV (RC style)");
 
-    // 0. 详细的输入验证
-    DEBUG_EXTRA("=== Detailed Input Validation ===");
-    DEBUG_EXTRA("Scene pointer: %p", &scene);
-    DEBUG_EXTRA("Mesh pointer: %p", &scene.mesh);
-    
-    // 检查基本数据结构
+    // 输入验证
     if (scene.mesh.faces.empty()) {
         DEBUG_EXTRA("ERROR: Mesh has no faces!");
         return false;
     }
-    
     if (scene.mesh.vertices.empty()) {
         DEBUG_EXTRA("ERROR: Mesh has no vertices!");
         return false;
     }
-    
-	virtualFaceMap.resize(scene.mesh.faces.size());
+    if (scene.mesh.faceTexcoords.empty()) {
+        DEBUG_EXTRA("ERROR: Mesh has no texture coordinates!");
+        return false;
+    }
+
+    // ✅ RC 风格：每个三角形一个虚拟面（1:1）
+    virtualFaceMap.resize(scene.mesh.faces.size());
     for (FIndex i = 0; i < (FIndex)scene.mesh.faces.size(); ++i) {
         virtualFaceMap[i].faces = {i};
     }
-    return true;
 
-    // 验证faces数组的大小
-    size_t numFaces = scene.mesh.faces.size();
-    size_t numVertices = scene.mesh.vertices.size();
-    size_t numFaceTexcoords = scene.mesh.faceTexcoords.size();
-    
-    DEBUG_EXTRA("Number of faces: %zu", numFaces);
-    DEBUG_EXTRA("Number of vertices: %zu", numVertices);
-    DEBUG_EXTRA("Number of texture coordinates: %zu", numFaceTexcoords);
-    
-    // 关键检查：必须有纹理坐标才能使用此方法
-    if (numFaceTexcoords == 0) {
-        DEBUG_EXTRA("ERROR: Mesh has no texture coordinates. Cannot create virtual faces for existing UV.");
-        return false;
-    }
-    
-    if (numFaceTexcoords < numFaces * 3) {
-        DEBUG_EXTRA("ERROR: Not enough UV coordinates! Expected %zu (faces * 3), have %zu", 
-                   numFaces * 3, numFaceTexcoords);
-        return false;
-    }
-    
-    // 验证面片索引
-	DEBUG_EXTRA("Validating face indices...");
-	for (size_t i = 0; i < std::min(numFaces, static_cast<size_t>(10)); ++i) {  // 使用static_cast
-		const Mesh::Face& face = scene.mesh.faces[i];
-		bool valid = true;
-		for (int j = 0; j < 3; ++j) {
-			if (face[j] >= numVertices) {
-				DEBUG_EXTRA("ERROR: Face %zu has invalid vertex index %u (max: %zu)", 
-						i, face[j], numVertices - 1);
-				valid = false;
-			}
-		}
-		if (valid) {
-			DEBUG_EXTRA("Face %zu: vertices [%u, %u, %u] - OK", 
-					i, face[0], face[1], face[2]);
-		}
-	}
-		
-    // 验证UV坐标索引
-    if (numFaceTexcoords > 0) {
-        DEBUG_EXTRA("Validating UV coordinate indices...");
-        if (numFaceTexcoords < numFaces * 3) {
-            DEBUG_EXTRA("ERROR: Not enough UV coordinates! Expected %zu, have %zu", 
-                       numFaces * 3, numFaceTexcoords);
-            return false;
-        }
-    }
-    
-    // 1. 确保网格拓扑已计算
-    DEBUG_EXTRA("Computing mesh topology...");
-    if (scene.mesh.faceFaces.empty()) {
-        DEBUG_EXTRA("  Computing incident faces...");
-        try {
-            scene.mesh.ListIncidenteFaces();
-            scene.mesh.ListIncidenteFaceFaces();
-            DEBUG_EXTRA("  Done computing incident faces");
-        } catch (const std::exception& e) {
-            DEBUG_EXTRA("  ERROR computing incident faces: %s", e.what());
-            return false;
-        }
-    }
-    
-    if (scene.mesh.faceNormals.empty()) {
-        DEBUG_EXTRA("  Computing face normals...");
-        try {
-            scene.mesh.ComputeNormalFaces();
-            DEBUG_EXTRA("  Done computing face normals");
-        } catch (const std::exception& e) {
-            DEBUG_EXTRA("  ERROR computing face normals: %s", e.what());
-            return false;
-        }
-    }
-    
-    std::vector<bool> processedFaces(numFaces, false);
-    
-    // 3. 基于曲率分割网格
-    DEBUG_EXTRA("Segmenting mesh based on curvature...");
-    Mesh::FaceIdxArr regionMap;
-    
-    try {
-        scene.SegmentMeshBasedOnCurvature(regionMap, 0.2f);
-        DEBUG_EXTRA("Mesh segmentation completed, regionMap size: %zu", regionMap.size());
-        
-        if (regionMap.size() != numFaces) {
-            DEBUG_EXTRA("ERROR: regionMap size (%zu) doesn't match number of faces (%u)", 
-                       regionMap.size(), numFaces);
-            return false;
-        }
-    } catch (const std::exception& e) {
-        DEBUG_EXTRA("ERROR during mesh segmentation: %s", e.what());
-        return false;
-    }
-    
-    // 4. 统计每个区域的面积
-    DEBUG_EXTRA("Calculating region areas...");
-    std::unordered_map<int, float> regionAreas;
-    
-    for (FIndex fid = 0; fid < numFaces; ++fid) {
-        if (fid % 10000 == 0 && fid > 0) {
-            DEBUG_EXTRA("  Processed %u/%u faces", fid, numFaces);
-        }
-        
-        int region = regionMap[fid];
-        
-        // 验证面片索引
-        if (fid >= scene.mesh.faces.size()) {
-            DEBUG_EXTRA("ERROR: Face index %u out of bounds (mesh has %zu faces)", 
-                       fid, scene.mesh.faces.size());
-            continue;
-        }
-        
-        const Mesh::Face& face = scene.mesh.faces[fid];
-        
-        // 验证顶点索引
-        for (int i = 0; i < 3; ++i) {
-            if (face[i] >= scene.mesh.vertices.size()) {
-                DEBUG_EXTRA("ERROR: Vertex index %u out of bounds in face %u (mesh has %zu vertices)", 
-                           face[i], fid, scene.mesh.vertices.size());
-                continue;
-            }
-        }
-        
-        const Point3f& v0 = scene.mesh.vertices[face[0]];
-        const Point3f& v1 = scene.mesh.vertices[face[1]];
-        const Point3f& v2 = scene.mesh.vertices[face[2]];
-        
-        // 计算三角形面积
-        Point3f edge1 = v1 - v0;
-        Point3f edge2 = v2 - v0;
-        
-        Point3f crossProd(
-            edge1.y * edge2.z - edge1.z * edge2.y,
-            edge1.z * edge2.x - edge1.x * edge2.z,
-            edge1.x * edge2.y - edge1.y * edge2.x
-        );
-        
-        float area = 0.5f * std::sqrt(
-            crossProd.x * crossProd.x + 
-            crossProd.y * crossProd.y + 
-            crossProd.z * crossProd.z
-        );
-        
-        if (area < 0) {
-            DEBUG_EXTRA("WARNING: Negative area calculated for face %u: %f", fid, area);
-            area = 0.0f;
-        }
-        
-        regionAreas[region] += area;
-    }
-    
-    DEBUG_EXTRA("Region area calculation completed, found %zu regions", regionAreas.size());
-    
-    // 5. 为每个区域收集面片
-    DEBUG_EXTRA("Grouping faces by region...");
-    std::unordered_map<int, std::vector<FIndex>> regionFaces;
-    for (FIndex fid = 0; fid < numFaces; ++fid) {
-        int region = regionMap[fid];
-        regionFaces[region].push_back(fid);
-    }
-    
-    DEBUG_EXTRA("Found %zu regions with faces", regionFaces.size());
-    
-    // 6. 创建虚拟面
-    DEBUG_EXTRA("Creating virtual faces...");
-    virtualFaceMap.clear();
-    virtualFaceMap.reserve(regionFaces.size());
-    
-    int regionCount = 0;
-    int smallRegionCount = 0;
-    int uvDiscontinuousCount = 0;
-    int createdVirtualFaces = 0;
-    
-    for (const auto& region : regionFaces) {
-        regionCount++;
-        int regionID = region.first;
-        const std::vector<FIndex>& faceList = region.second;
-        
-        if (regionCount % 100 == 0) {
-            DEBUG_EXTRA("  Processing region %d/%d (%zu faces)", regionCount, regionFaces.size(), faceList.size());
-        }
-        
-        // 检查区域面积是否足够大
-        float regionArea = regionAreas[regionID];
-        if (regionArea < 0.001f) {  // 面积阈值
-            DEBUG_EXTRA("  Region %d is too small (area: %f), using individual faces", regionID, regionArea);
-            smallRegionCount++;
-            
-            // 区域太小，不创建虚拟面
-            for (FIndex fid : faceList) {
-                virtualFaceMap.push_back(VirtualFace());
-                virtualFaceMap.back().faces.push_back(fid);
-            }
-            continue;
-        }
-        
-        // 检查UV连续性
-        if (!CheckUVContinuity(faceList)) {
-            DEBUG_EXTRA("  Region %d has discontinuous UV, using individual faces", regionID);
-            uvDiscontinuousCount++;
-            
-            // UV不连续，保持原始面片
-            for (FIndex fid : faceList) {
-                virtualFaceMap.push_back(VirtualFace());
-                virtualFaceMap.back().faces.push_back(fid);
-            }
-            continue;
-        }
-        
-        // 创建虚拟面
-        VirtualFace vf;
-        vf.faces = faceList;
-        
-        // 计算虚拟面的中心、法线和面积
-        if (!CalculateVirtualFaceProperties(vf)) {
-            DEBUG_EXTRA("  Failed to calculate properties for virtual face in region %d", regionID);
-            // 计算失败，回退到原始面片
-            for (FIndex fid : faceList) {
-                virtualFaceMap.push_back(VirtualFace());
-                virtualFaceMap.back().faces.push_back(fid);
-            }
-            continue;
-        }
-        
-        // 计算虚拟面的UV边界
-        if (!CalculateVirtualFaceUVBounds(vf)) {
-            DEBUG_EXTRA("  Failed to calculate UV bounds for virtual face in region %d", regionID);
-            // 计算失败，回退到原始面片
-            for (FIndex fid : faceList) {
-                virtualFaceMap.push_back(VirtualFace());
-                virtualFaceMap.back().faces.push_back(fid);
-            }
-            continue;
-        }
-        
-        virtualFaceMap.push_back(vf);
-        createdVirtualFaces++;
-    }
-    
-    DEBUG_EXTRA("Virtual face creation completed:");
-    DEBUG_EXTRA("  Total regions: %zu", regionFaces.size());
-    DEBUG_EXTRA("  Small regions (area < 0.001): %d", smallRegionCount);
-    DEBUG_EXTRA("  UV discontinuous regions: %d", uvDiscontinuousCount);
-    DEBUG_EXTRA("  Created virtual faces: %d", createdVirtualFaces);
-    DEBUG_EXTRA("  Total virtual faces (including individual faces): %zu", virtualFaceMap.size());
-    
-    if (virtualFaceMap.empty()) {
-        DEBUG_EXTRA("ERROR: No virtual faces created!");
-        return false;
-    }
-    
+    DEBUG_EXTRA("Created %zu virtual faces (one per triangle)", virtualFaceMap.size());
     return true;
 }
 
@@ -18813,49 +18638,48 @@ bool Scene::TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsi
                 return false;
             }
 
-			// ✅✅✅ 关键修复：重新计算拓扑（否则 faceFaces 是坏的）
-			mesh.ListIncidenteFaces();
-			mesh.ListIncidenteFaceFaces();
-			mesh.ComputeNormalFaces();
-			mesh.ListBoundaryVertices();
-
-            // 纯可见性计算（初始化faceNeighbors）
-            if (!texture.ComputePureFaceVisibility(fOutlierThreshold, nIgnoreMaskLabel, views)) {
-                // ❗ 兜底：如果ComputePureFaceVisibility没初始化faceNeighbors，手动填充
-                if (texture.faceNeighbors.empty()) {
-                    texture.faceNeighbors.resize(mesh.faces.size());
-                    for (FIndex fid = 0; fid < (FIndex)mesh.faces.size(); ++fid) {
-                        if (!views.empty()) {
-                            texture.faceNeighbors[fid].insert(texture.faceNeighbors[fid].end(), views.begin(), views.end());
-                        } else {
-                            for (IIndex vid = 0; vid < (IIndex)images.size(); ++vid)
-                                texture.faceNeighbors[fid].push_back(vid);
-                        }
-                    }
-                    DEBUG_EXTRA("Forced fill faceNeighbors for %zu faces", mesh.faces.size());
-                }
-                return false;
-            }
+			// ✅ 确保拓扑信息存在
+			if (mesh.faceFaces.empty()) {
+				mesh.ListIncidenteFaces();
+				mesh.ListIncidenteFaceFaces();
+			}
+			if (mesh.faceNormals.empty()) {
+				mesh.ComputeNormalFaces();
+			}
+			if (mesh.vertexBoundary.empty()) {
+				mesh.ListBoundaryVertices();
+			}
 
-            // 创建虚拟面（1:1映射）
-            MeshTexture::VirtualFaceMap virtualFaceMap;
-            if (!texture.CreateVirtualFacesForExistingUV(virtualFaceMap)) return false;
+			// ✅ 1. 创建虚拟面（每三角形一个）
+			MeshTexture::VirtualFaceMap virtualFaceMap;
+			if (!texture.CreateVirtualFacesForExistingUV(virtualFaceMap))
+				return false;
 
-            // 选最佳视图（带patch一致性）
-            if (!texture.SelectBestViewsForVirtualFaces(
-                virtualFaceMap, 1, fOutlierThreshold, fRatioDataSmoothness, nIgnoreMaskLabel, views))
-                return false;
+			// ✅ 2. 计算可见性（填充 faceNeighbors）
+			if (!texture.ComputePureFaceVisibility(
+					fOutlierThreshold, nIgnoreMaskLabel, views)) {
+				return false;
+			}
 
-            // 直接光栅化（不需要生成图集）
-            Mesh::Image8U3Arr textures;
-            if (!texture.RasterizeVirtualFaces(
-                virtualFaceMap, texture.faceViews, texture.faceViewWeights,
-                nTextureSizeMultiple, colEmpty, textures))
-                return false;
+			// ✅ 3. 选择最佳视图（带 patch 一致性）
+			if (!texture.SelectBestViewsForVirtualFaces(
+					virtualFaceMap, 1, fOutlierThreshold,
+					fRatioDataSmoothness, nIgnoreMaskLabel, views))
+				return false;
+
+			// ✅ 4. RC 风格光栅化（Affine + Homography 混合）
+			Mesh::Image8U3Arr textures;
+			if (!texture.RasterizeVirtualFaces(
+					virtualFaceMap, texture.faceViews,
+					texture.faceViewWeights,
+					nTextureSizeMultiple, colEmpty, textures))
+				return false;
+
+			mesh.texturesDiffuse = std::move(textures);
+			DEBUG_EXTRA("Existing UV texturing completed: %u faces (%s)",
+						mesh.faces.size(), TD_TIMER_GET_FMT().c_str());
+			return true;
 
-            mesh.texturesDiffuse = std::move(textures);
-            DEBUG_EXTRA("Existing UV texturing completed: %u faces (%s)", mesh.faces.size(), TD_TIMER_GET_FMT().c_str());
-            return true; // 直接返回，不走后面的图集逻辑
         } else {
             // 3. 通用虚拟面模式（无预计算UV）
             if (!texture.FaceViewSelectionWithVirtualFaces(