关闭虚拟面增长优化

.gitignore

@@ -7,6 +7,7 @@
 # Precompiled Headers
 *.gch
 *.pch
+*.pyc
 
 # Compiled Dynamic libraries
 *.so

CMakeLists.txt

@@ -52,7 +52,7 @@ ENDIF()
 PROJECT(OpenMVS)
 
 SET(ENV_PYTHON_PATH "/home/algo/.conda/envs/py310_pyt210/lib/python3.10/site-packages")
-SET(ENV_MVS_PATH "/home/algo/Documents/openMVS/openMVS.ManualUV/libs/MVS")
+SET(ENV_MVS_PATH "/home/algo/Documents/openMVS/openMVS/libs/MVS")
 
 CONFIGURE_FILE(
   "${CMAKE_CURRENT_SOURCE_DIR}/build/Templates/ConfigEnv.h.in"

apps/TextureMesh/TextureMesh.cpp

@@ -94,9 +94,6 @@ unsigned nMaxThreads;
 int nMaxTextureSize;
 String strExportType;
 String strConfigFileName;
-bool bUseExistingUV;
-String strUVMeshFileName;
-
 boost::program_options::variables_map vm;
 } // namespace OPT
 
@@ -166,8 +163,6 @@ bool Application::Initialize(size_t argc, LPCTSTR* argv)
 		("image-folder", boost::program_options::value<std::string>(&OPT::strImageFolder)->default_value(COLMAP_IMAGES_FOLDER), "folder to the undistorted images")
 		("origin-faceview", boost::program_options::value(&OPT::bOriginFaceview)->default_value(false), "use origin faceview selection")
 		("id", boost::program_options::value(&OPT::nID)->default_value(0), "id")
-		("use-existing-uv", boost::program_options::value(&OPT::bUseExistingUV)->default_value(false), "use existing UV coordinates from the input mesh")
-    	("uv-mesh-file", boost::program_options::value<std::string>(&OPT::strUVMeshFileName), "mesh file with pre-computed UV coordinates")
 		;
 
 	// hidden options, allowed both on command line and
@@ -1139,12 +1134,12 @@ int main(int argc, LPCTSTR* argv)
 	if (!scene.TextureMesh(OPT::nResolutionLevel, OPT::nMinResolution, OPT::minCommonCameras, OPT::fOutlierThreshold, OPT::fRatioDataSmoothness,
 						   OPT::bGlobalSeamLeveling, OPT::bLocalSeamLeveling, OPT::nTextureSizeMultiple, OPT::nRectPackingHeuristic, Pixel8U(OPT::nColEmpty),
 						   OPT::fSharpnessWeight, OPT::nIgnoreMaskLabel, OPT::nMaxTextureSize, views, baseFileName, OPT::bOriginFaceview, 
-						   OPT::strInputFileName, OPT::strMeshFileName, OPT::bUseExistingUV, OPT::strUVMeshFileName))
+						   OPT::strInputFileName, OPT::strMeshFileName))
 		return EXIT_FAILURE;
 	VERBOSE("Mesh texturing completed: %u vertices, %u faces (%s)", scene.mesh.vertices.GetSize(), scene.mesh.faces.GetSize(), TD_TIMER_GET_FMT().c_str());
 
 	// save the final mesh
-	scene.mesh.Save(baseFileName+OPT::strExportType,cList<String>(),true,OPT::bUseExistingUV);
+	scene.mesh.Save(baseFileName+OPT::strExportType);
 	#if TD_VERBOSE != TD_VERBOSE_OFF
 	if (VERBOSITY_LEVEL > 2)
 		scene.ExportCamerasMLP(baseFileName+_T(".mlp"), baseFileName+OPT::strExportType);

libs/IO/OBJ.cpp

@@ -48,7 +48,6 @@ ObjModel::MaterialLib::MaterialLib()
 
 bool ObjModel::MaterialLib::Save(const String& prefix, bool texLossless) const
 {
-	DEBUG_EXTRA("MaterialLib::Save %s", prefix.c_str());
 	std::ofstream out((prefix+".mtl").c_str());
 	if (!out.good())
 		return false;
@@ -131,7 +130,7 @@ bool ObjModel::MaterialLib::Load(const String& fileName)
 
 // S T R U C T S ///////////////////////////////////////////////////
 
-bool ObjModel::Save(const String& fileName, unsigned precision, bool texLossless, bool bUseExistingUV) const
+bool ObjModel::Save(const String& fileName, unsigned precision, bool texLossless) const
 {
 	if (vertices.empty())
 		return false;
@@ -141,9 +140,6 @@ bool ObjModel::Save(const String& fileName, unsigned precision, bool texLossless
 	if (!material_lib.Save(prefix, texLossless))
 		return false;
 
-	if (bUseExistingUV)
-		return true;
-
 	std::ofstream out((prefix + ".obj").c_str());
 	if (!out.good())
 		return false;
@@ -273,129 +269,6 @@ bool ObjModel::Load(const String& fileName)
 	return !vertices.empty();
 }
 
-bool ObjModel::LoadUV(const String& fileName, SEACAVE::cList<TexCoord,const TexCoord&,0,8192,uint32_t> &faceTexcoords, bool bLoadUV)
-{
-	DEBUG_EXTRA("LoadUV bLoadUV=%b", bLoadUV);
-    ASSERT(vertices.empty() && groups.empty() && material_lib.materials.empty());
-    std::ifstream fin(fileName.c_str());
-    String line, keyword;
-    std::istringstream in;
-    
-    while (fin.good()) {
-        std::getline(fin, line);
-        if (line.empty() || line[0u] == '#')
-            continue;
-        
-        in.str(line);
-        in >> keyword;
-        
-        if (keyword == "v") {
-            Vertex v;
-            in >> v[0] >> v[1] >> v[2];
-            if (in.fail())
-			{
-				DEBUG_EXTRA("1");
-                return false;
-			}
-            vertices.push_back(v);
-			// DEBUG_EXTRA("10, %d", vertices.size());
-        } else if (keyword == "vt") {
-            TexCoord vt;
-            in >> vt[0] >> vt[1];
-            if (in.fail())
-			{
-				DEBUG_EXTRA("2");
-                return false;
-			}
-            texcoords.push_back(vt);
-        } else if (keyword == "vn") {
-            Normal vn;
-            in >> vn[0] >> vn[1] >> vn[2];
-            if (in.fail())
-			{
-				DEBUG_EXTRA("3");
-                return false;
-			}
-            normals.push_back(vn);
-        } else if (keyword == "f") {
-            Face f;
-            memset(&f, 0xFF, sizeof(Face));
-            
-            for (size_t k = 0; k < 3; ++k) {
-                in >> keyword;
-                
-                // 更健壮的解析方法，处理各种索引格式
-                std::vector<String> parts;
-                size_t start = 0, end = 0;
-                
-                // 按'/'分割字符串
-                while ((end = keyword.find('/', start)) != String::npos) {
-                    parts.push_back(keyword.substr(start, end - start));
-                    start = end + 1;
-                }
-                parts.push_back(keyword.substr(start));
-                
-                // 根据分割后的部分数量处理不同情况
-                if (parts.size() >= 1 && !parts[0].empty()) {
-                    f.vertices[k] = std::stoi(parts[0]) - OBJ_INDEX_OFFSET;
-                }
-                
-                if (parts.size() >= 2 && !parts[1].empty()) {
-                    f.texcoords[k] = std::stoi(parts[1]) - OBJ_INDEX_OFFSET;
-                }
-                
-                if (parts.size() >= 3 && !parts[2].empty()) {
-                    f.normals[k] = std::stoi(parts[2]) - OBJ_INDEX_OFFSET;
-                }
-            }
-        
-            if (in.fail())
-			{
-				DEBUG_EXTRA("4");
-                return false;
-			}
-
-			if (bLoadUV)
-			{
-				for (int i = 0; i < 3; ++i) {
-					if (f.texcoords[i] != NO_ID && f.texcoords[i] < texcoords.size()) {
-						faceTexcoords.push_back(texcoords[f.texcoords[i]]);
-					} else {
-						// 索引无效（例如面定义中未提供vt索引或索引越界），使用默认值
-						faceTexcoords.push_back(Point2f(0.0f, 0.0f)); // 默认UV
-						DEBUG_EXTRA("Invalid texcoords %d", f.texcoords[i])
-					}
-				}
-
-				// DEBUG_EXTRA("faceTexcoords push_back [(%f,%f),(%f,%f),(%f,%f)]", texcoords[f.texcoords[0]].x, texcoords[f.texcoords[0]].y,
-				//	texcoords[f.texcoords[1]].x, texcoords[f.texcoords[1]].y, texcoords[f.texcoords[2]].x, texcoords[f.texcoords[2]].y);
-			}
-						
-            if (groups.empty())
-                AddGroup("");
-            groups.back().faces.push_back(f);
-        // } else if (keyword == "mtllib") {
-        //     in >> keyword;
-        //     if (!material_lib.Load(keyword))
-		// 		DEBUG_EXTRA("3");
-        //         return false;
-        } else if (keyword == "usemtl") {
-            Group group;
-            in >> group.material_name;
-            if (in.fail())
-			{
-				DEBUG_EXTRA("5");
-                return false;
-			}
-            groups.push_back(group);
-        }
-        
-        in.clear();
-    }
-    
-	DEBUG_EXTRA("6, vertices.size=%d, faceTexcoords.size=%d", vertices.size(), faceTexcoords.size());
-    return !vertices.empty();
-}
 
 ObjModel::Group& ObjModel::AddGroup(const String& material_name)
 {

libs/IO/OBJ.h

@@ -93,10 +93,9 @@ public:
 	ObjModel() {}
 
 	// Saves the obj model to an .obj file, its material lib and the materials with the given file name
-	bool Save(const String& fileName, unsigned precision=6, bool texLossless=false, bool bUseExistingUV=false) const;
+	bool Save(const String& fileName, unsigned precision=6, bool texLossless=false) const;
 	// Loads the obj model from an .obj file, its material lib and the materials with the given file name
 	bool Load(const String& fileName);
-	bool LoadUV(const String& fileName, SEACAVE::cList<TexCoord,const TexCoord&,0,8192,uint32_t> &faceTexcoords, bool bLoadUV = false);
 
 	// Creates a new group with the given material name
 	Group& AddGroup(const String& material_name);

libs/MVS/Mesh.cpp

@@ -1191,14 +1191,15 @@ namespace BasicPLY {
 } // namespace MeshInternal
 
 // import the mesh from the given file
-bool Mesh::Load(const String& fileName, bool bLoadUV)
+bool Mesh::Load(const String& fileName)
 {
 	TD_TIMER_STARTD();
 	const String ext(Util::getFileExt(fileName).ToLower());
 	bool ret;
 	if (ext == _T(".obj"))
-		ret = LoadOBJ(fileName, bLoadUV);
+		ret = LoadOBJ(fileName);
-	else if (ext == _T(".gltf") || ext == _T(".glb"))
+	else
+	if (ext == _T(".gltf") || ext == _T(".glb"))
 		ret = LoadGLTF(fileName, ext == _T(".glb"));
 	else
 		ret = LoadPLY(fileName);
@@ -1207,43 +1208,6 @@ bool Mesh::Load(const String& fileName, bool bLoadUV)
 	DEBUG_EXTRA("Mesh loaded: %u vertices, %u faces (%s)", vertices.size(), faces.size(), TD_TIMER_GET_FMT().c_str());
 	return true;
 }
-
-void Mesh::CheckUVValid()
-{
-	for (int_t idxFace = 0; idxFace < (int_t)faces.size(); ++idxFace)
-	{
-		FOREACH(idxFace, faces)
-		{
-			const FIndex faceID = (FIndex)idxFace;
-			
-			const TexCoord* uv = &faceTexcoords[faceID * 3];
-
-			const Point2f& a = uv[0];
-			const Point2f& b = uv[1];
-			const Point2f& c = uv[2];
-
-			// DEBUG_EXTRA("a=(%f,%f),b=(%f,%f),c=(%f,%f)", a.x, a.y, b.x, b.y, c.x, c.y);
-
-			// 计算边向量
-			Point2f v0 = b - a;
-			Point2f v1 = c - a;
-			float denom = (v0.x * v0.x + v0.y * v0.y) * (v1.x * v1.x + v1.y * v1.y) - 
-						std::pow(v0.x * v1.x + v0.y * v1.y, 2);
-
-			// 处理退化三角形情况（面积接近0）
-			const float epsilon = 1e-10f;
-			if (std::abs(denom) < epsilon) 
-			{
-				// DEBUG_EXTRA("PointInTriangle - Degenerate triangle, denom=%.10f", denom);
-			}
-			else
-			{
-				// DEBUG_EXTRA("PointInTriangle Yes idxFace=%d", idxFace);
-			}
-		}
-	}
-}
-
 // import the mesh as a PLY file
 bool Mesh::LoadPLY(const String& fileName)
 {
@@ -1338,29 +1302,17 @@ bool Mesh::LoadPLY(const String& fileName)
 	return true;
 }
 // import the mesh as a OBJ file
-bool Mesh::LoadOBJ(const String& fileName, bool bLoadUV)
+bool Mesh::LoadOBJ(const String& fileName)
 {
 	ASSERT(!fileName.empty());
 	Release();
 
 	// open and parse OBJ file
 	ObjModel model;
-	if (bLoadUV)
+	if (!model.Load(fileName)) {
-	{
+		DEBUG_EXTRA("error: invalid OBJ file");
-		if (!model.LoadUV(fileName, faceTexcoords, true)) {
-			DEBUG_EXTRA("error: LoadUV invalid OBJ file %s", fileName.c_str());
 		return false;
 	}
-	}
-	else
-	{
-		if (!model.LoadUV(fileName, faceTexcoords)) {
-		// if (!model.Load(fileName)) {
-			DEBUG_EXTRA("error: Load invalid OBJ file %s", fileName.c_str());
-			return false;
-		}
-
-	}
 
 	if (model.get_vertices().empty() || model.get_groups().empty()) {
 		DEBUG_EXTRA("error: invalid mesh file");
@@ -1388,13 +1340,11 @@ bool Mesh::LoadOBJ(const String& fileName, bool bLoadUV)
 		for (const ObjModel::Face& f: group.faces) {
 			ASSERT(f.vertices[0] != NO_ID);
 			faces.emplace_back(f.vertices[0], f.vertices[1], f.vertices[2]);
-			/*
 			if (f.texcoords[0] != NO_ID) {
 				for (int i=0; i<3; ++i)
 					faceTexcoords.emplace_back(model.get_texcoords()[f.texcoords[i]]);
 				faceTexindices.emplace_back((TexIndex)groupIdx);
 			}
-			*/
 			if (f.normals[0] != NO_ID) {
 				Normal& n = faceNormals.emplace_back(Normal::ZERO);
 				for (int i=0; i<3; ++i)
@@ -1495,13 +1445,13 @@ bool Mesh::LoadGLTF(const String& fileName, bool bBinary)
 /*----------------------------------------------------------------*/
 
 // export the mesh to the given file
-bool Mesh::Save(const String& fileName, const cList<String>& comments, bool bBinary, bool bUseExistingUV) const
+bool Mesh::Save(const String& fileName, const cList<String>& comments, bool bBinary) const
 {
 	TD_TIMER_STARTD();
 	const String ext(Util::getFileExt(fileName).ToLower());
 	bool ret;
 	if (ext == _T(".obj"))
-		ret = SaveOBJ(fileName, bUseExistingUV);
+		ret = SaveOBJ(fileName);
 	else
 	if (ext == _T(".gltf") || ext == _T(".glb"))
 		ret = SaveGLTF(fileName, ext == _T(".glb"));
@@ -1588,7 +1538,7 @@ bool Mesh::SavePLY(const String& fileName, const cList<String>& comments, bool b
 	return true;
 }
 // export the mesh as a OBJ file
-bool Mesh::SaveOBJ(const String& fileName, bool bUseExistingUV) const
+bool Mesh::SaveOBJ(const String& fileName) const
 {
 	ASSERT(!fileName.empty());
 	Util::ensureFolder(fileName);
@@ -1647,7 +1597,7 @@ bool Mesh::SaveOBJ(const String& fileName, bool bUseExistingUV) const
 		pMaterial->diffuse_map = texturesDiffuse[idxTexture];
 	}
 
-	return model.Save(fileName, 6U, true, bUseExistingUV);
+	return model.Save(fileName, 6U, true);
 }
 // export the mesh as a GLTF file
 template <typename T>

libs/MVS/Mesh.h

@@ -262,8 +262,8 @@ public:
 	bool TransferTexture(Mesh& mesh, const FaceIdxArr& faceSubsetIndices={}, unsigned borderSize=3, unsigned textureSize=4096);
 
 	// file IO
-	bool Load(const String& fileName, bool bLoadUV=false);
+	bool Load(const String& fileName);
-	bool Save(const String& fileName, const cList<String>& comments=cList<String>(), bool bBinary=true, bool bUseExistingUV=false) const;
+	bool Save(const String& fileName, const cList<String>& comments=cList<String>(), bool bBinary=true) const;
 	bool Save(const FacesChunkArr&, const String& fileName, const cList<String>& comments=cList<String>(), bool bBinary=true) const;
 	static bool Save(const VertexArr& vertices, const String& fileName, bool bBinary=true);
 
@@ -271,15 +271,13 @@ public:
 	static inline VIndex GetVertex(const Face& f, VIndex v) { const uint32_t idx(FindVertex(f, v)); ASSERT(idx != NO_ID); return f[idx]; }
 	static inline VIndex& GetVertex(Face& f, VIndex v) { const uint32_t idx(FindVertex(f, v)); ASSERT(idx != NO_ID); return f[idx]; }
 
-	void CheckUVValid();
-
 protected:
 	bool LoadPLY(const String& fileName);
-	bool LoadOBJ(const String& fileName, bool bLoadUV);
+	bool LoadOBJ(const String& fileName);
 	bool LoadGLTF(const String& fileName, bool bBinary=true);
 
 	bool SavePLY(const String& fileName, const cList<String>& comments=cList<String>(), bool bBinary=true, bool bTexLossless=true) const;
-	bool SaveOBJ(const String& fileName, bool bUseExistingUV) const;
+	bool SaveOBJ(const String& fileName) const;
 	bool SaveGLTF(const String& fileName, bool bBinary=true) const;
 
 	#ifdef _USE_CUDA

libs/MVS/Scene.h

@@ -65,6 +65,8 @@ 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>> delete_edge_faces_map2;
+	std::map<std::string, std::unordered_set<int>> face_normal_visible_map;
 	std::unordered_set<int> face_visible_relative;
 
 public:
@@ -163,34 +165,23 @@ 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>>& delete_edge_faces_map2,
+						 std::map<std::string, std::unordered_set<int>>& face_normal_visible_map,		
                          std::string& basePath);
-    bool LoadVisibleFacesData() {
-        std::map<std::string, std::unordered_set<int>> visible_faces_map;
-        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::string basePath = GetDefaultBasePath();  // 你需要实现这个函数
-        
-        return LoadVisibleFacesData(visible_faces_map, face_visible_relative, 
-                                   edge_faces_map, delete_edge_faces_map, basePath);
-    }
-    std::string GetDefaultBasePath() {
-        // 根据你的需求实现这个函数
-        // 例如：返回一个默认的路径，或者从配置中读取
-        return "default_path";
-    }
 
 	// Mesh texturing
 	bool TextureMesh(unsigned nResolutionLevel, unsigned nMinResolution, unsigned minCommonCameras=0, float fOutlierThreshold=0.f, float fRatioDataSmoothness=0.3f,
 		bool bGlobalSeamLeveling=true, bool bLocalSeamLeveling=true, unsigned nTextureSizeMultiple=0, unsigned nRectPackingHeuristic=3, Pixel8U colEmpty=Pixel8U(255,127,39),
 		float fSharpnessWeight=0.5f, int ignoreMaskLabel=-1, int maxTextureSize=0, const IIndexArr& views=IIndexArr(), const SEACAVE::String& basename = "", bool bOriginFaceview = false,
-		const std::string& inputFileName = "", const std::string& meshFileName = "", bool bUseExistingUV = false, const std::string& strUVMeshFileName = "");
+		const std::string& inputFileName = "", const std::string& meshFileName = "");
 
 	std::string runPython(const std::string& command);
 	bool is_face_visible(const std::string& image_name, int face_index);
 	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_delete_edge2(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);
 

libs/MVS/mask_face_occlusion.py

@@ -4,7 +4,8 @@ import os
 import numpy as np
 from scipy.spatial.transform import Rotation
 import sys
-sys.path.append("/home/algo/Documents/openMVS/openMVS/libs/MVS/utils")
+# sys.path.append("/home/algo/Documents/openMVS/openMVS/libs/MVS/utils")
+sys.path.append("/root/code/openMVS/libs/MVS/utils")
 from colmap_loader import read_cameras_text, read_images_text, read_int_text, write_int_text, read_indices_from_file
 # from get_pose_matrix import get_w2c
 import argparse
@@ -33,6 +34,7 @@ from typing import Dict, List, Set
 import struct
 import math
 # import os
+from pathlib import Path
 
 CameraModel = collections.namedtuple(
     "CameraModel", ["model_id", "model_name", "num_params"]
@@ -1350,14 +1352,90 @@ 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 <= 40.0
+        
+        # 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(), 6)
-        expanded_visibility = self._expand_face_visibility(face_visible.cpu().numpy(), 30)
+        expanded_visibility = self._expand_face_visibility(face_visible.cpu().numpy(), 0)
-        shrunk_visibility2 = self._shrink_face_visibility(face_visible.cpu().numpy(), 50)
+        shrunk_visibility2 = self._shrink_face_visibility(face_visible.cpu().numpy(), 0)
+        shrunk_visibility3 = self._shrink_face_visibility(face_visible.cpu().numpy(), 100)
         expanded_edge = expanded_visibility & ~shrunk_visibility2
         delete_edge = face_visible.cpu().numpy() & ~shrunk_visibility
+        delete_edge2 = face_visible.cpu().numpy() & ~shrunk_visibility3
         
-        return shrunk_visibility, expanded_edge, delete_edge
+        return shrunk_visibility, expanded_edge, delete_edge, delete_edge2, face_normal_visible
     
     """
     def _gen_depth_image_gpu(self, cam_data, render):
@@ -1388,6 +1466,8 @@ class ModelProcessor:
         visible_faces_dict = {}
         edge_faces_dict = {}
         delete_edge_faces_dict = {}
+        delete_edge_faces_dict2 = {}
+        face_normal_visible_dict = {}
         
         total_start = time.time()
         
@@ -1413,13 +1493,15 @@ 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_delete_edge2, 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()
+            delete_edge_faces_dict2[img_name] = np.where(face_delete_edge2)[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)}")
         
@@ -1427,12 +1509,14 @@ 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, delete_edge_faces_dict2, 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": delete_edge_faces_dict2,
+            "result5": face_normal_visible_dict
         }
             
     #"""
@@ -1926,64 +2010,6 @@ class ModelProcessor:
         depth = render.render_to_depth_image(z_in_view_space=True)
         return np.asarray(depth)
     
-    def sort_vertices(vertices_original):
-        return sorted(
-        (v for v in vertices_original),
-        key=lambda v: (v.co.x, v.co.y, v.co.z)
-        )
-    
-    def _flag_model(self, camera_data, face_points):
-        """标记可见顶点"""
-        vertex_visible = []
-        vertex_occlusion = []
-        depth_images = []
-
-        render = o3d.visualization.rendering.OffscreenRenderer(camera_data['width'], camera_data['height'])
-        
-        material = o3d.visualization.rendering.MaterialRecord()
-        render.scene.add_geometry("mesh", self.mesh, material)
-
-        # 生成深度图
-        depth_image = self._gen_depth_image(camera_data, render)
-
-        # 计算可见性
-        R = self.qvec2rotmat(camera_data['qvec']).T
-        eye = -R @ camera_data['tvec']
-        # eye = camera_data['tvec']
-        # final_visible_list, final_occlusion_list, final_vertex_difference_list = self._compute_vertex_in_frustum(
-        final_visible_list, final_occlusion_list = self._compute_vertex_in_frustum(
-            camera_data['fx'], camera_data['fy'],
-            camera_data['cx'], camera_data['cy'],
-            R, eye,
-            camera_data['height'], camera_data['width'],
-            depth_image,camera_data['qvec'], camera_data['tvec']
-        )
-        print("_flag_model", len(final_occlusion_list), len(self.mesh.vertices), len(self.mesh.vertex_colors))
-
-        # 获取三角形面片数组
-        triangles = np.asarray(self.mesh.triangles)
-        
-        face_visible_bitmap = np.zeros(len(triangles), dtype=bool)
-        
-        # 遍历所有面片
-        for face_idx, face in enumerate(triangles):
-            v0, v1, v2 = face
-            
-            face_visible_bitmap[face_idx] = any([ # any all
-                final_visible_list[v0],
-                final_visible_list[v1],
-                final_visible_list[v2]
-            ]) 
-
-        shrunk_visibility = self._shrink_face_visibility(face_visible_bitmap, 6) # 6 10
-
-        expanded_visibility = self._expand_face_visibility(face_visible_bitmap, 30)
-        shrunk_visibility2 = self._shrink_face_visibility(face_visible_bitmap, 50)
-        expanded_edge = expanded_visibility & ~shrunk_visibility2
-        delete_edge = face_visible_bitmap & ~shrunk_visibility
-        
-        return shrunk_visibility, expanded_edge, delete_edge
-    
     def _flag_contour(self, camera_data, face_points):
         """标记可见顶点"""
         vertex_visible = []
@@ -2073,97 +2099,11 @@ class ModelProcessor:
         face_visible_bitmap = np.ones(len(triangles), dtype=bool)  # 临时填充
         return face_visible_bitmap, face_edge
 
-    """
-    def _mask_face_occlusion(self):
-        # 读取相机数据
-        cameras = read_cameras_text(os.path.join(self.pose_path, "cameras.txt"))
-        images = read_images_text(os.path.join(self.pose_path, "images.txt"))
-        # cameras = read_cameras_text(os.path.join(self.pose_path, "backup_cameras.txt"))
-        # images = read_images_text(os.path.join(self.pose_path, "backup_images.txt"))
-
-        face_points_sorted_path = os.path.join(self.pose_path, "face_points_sorted.txt")
-        print("face_points_sorted_path=", face_points_sorted_path)
-        #face_points = read_int_text(face_points_sorted_path)
-        face_points = read_indices_from_file(face_points_sorted_path)
-        # face_points = {}
-        camera_data = {}
-
-        for img in images.values():
-            if self.mask_image == img.name[:-4]:
-                camera = cameras[img.camera_id]
-                camera_data = {
-                    "qvec": img.qvec,
-                    "tvec": img.tvec,
-                    "fx": camera.params[0],
-                    "fy": camera.params[1],
-                    "cx": camera.params[2],
-                    "cy": camera.params[3],
-                    "width": camera.width,
-                    "height": camera.height,
-                    "name": img.name[:-4]
-                }
-
-        # print(face_points)
-        self._flag_model(camera_data, face_points)
-    """
-
-    def _mask_occlusion(self):
-        # 读取相机数据
-        cameras = read_cameras_text(os.path.join(self.pose_path, "cameras.txt"))
-        images = read_images_text(os.path.join(self.pose_path, "images.txt"))
-
-        camera_data = {}
-
-        countour_faces_dict = {}
-        visible_faces_dict = {}
-        edge_faces_dict = {}
-        delete_edge_faces_dict = {}
-
-        total_start = time.time()
-
-        n = 0
-        for img in images.values():
-            camera = cameras[img.camera_id]
-            camera_data = {
-                "qvec": img.qvec,
-                "tvec": img.tvec,
-                "fx": camera.params[0],
-                "fy": camera.params[1],
-                "cx": camera.params[2],
-                "cy": camera.params[3],
-                "width": camera.width,
-                "height": camera.height,
-                "name": img.name[:-4]
-            }
-            img_name = img.name[:-4]       
-            # if (img_name!="73_8" and img_name!="52_8" and img_name!="62_8"):
-            # if (img_name!="52_8" and img_name!="62_8"):
-            # if (img_name!="52_8"):
-            #    continue
-
-            start_time = time.time()
-            face_visibility, face_edge, face_delete_edge = self._flag_model(camera_data, None)
-            processing_time = time.time() - start_time
-            
-            visible_faces = np.where(face_visibility)[0].tolist()
-            visible_faces_dict[img.name[:-4]] = visible_faces
-            edge_faces_dict[img.name[:-4]] = np.where(face_edge)[0].tolist()
-            delete_edge_faces_dict[img.name[:-4]] = np.where(face_delete_edge)[0].tolist()
-            n += 1
-            
-            print(f"图像={img_name}，耗时={processing_time:.2f}秒，可见面数={len(visible_faces)}")    
-
-        total_time = time.time() - total_start
-        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)
-
-        return {"result1": visible_faces_dict, "result2": edge_faces_dict, "result3": delete_edge_faces_dict}
-
     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]], 
+                        result5: Dict[str, List[int]], 
                         base_path: str) -> None:
         """
         保存遮挡数据到文件
@@ -2175,6 +2115,8 @@ class ModelProcessor:
             base_path: 基础文件路径
         """
         
+        os.makedirs(base_path, exist_ok = True)
+
         print(f"save_occlusion_data {base_path}, {len(result1)}, {len(result2)}, {len(result3)}")
         
         # 处理返回的可见面字典 - 转换为图像名到面编号集合的映射
@@ -2197,9 +2139,19 @@ class ModelProcessor:
         for image_name, face_list in result3.items():
             delete_edge_faces_map[image_name] = set(face_list)
 
+        delete_edge_faces_map2: Dict[str, Set[int]] = {}
+        for image_name, face_list in result4.items():
+            delete_edge_faces_map2[image_name] = set(face_list)
+
+        face_normal_visible_map: Dict[str, Set[int]] = {}
+        for image_name, face_list in result5.items():
+            face_normal_visible_map[image_name] = set(face_list)
+
         # 保存 visible_faces_map
         try:
-            with open(base_path + "/_visible_faces_map.txt", "w", encoding='utf-8') as map_file:
+            file_name = "_visible_faces_map.txt"
+            file_path = Path(base_path) / file_name
+            with open(file_path, "w", encoding='utf-8') as map_file:
                 for image_name, face_set in visible_faces_map.items():
                     # 写入图像名称和所有面ID，用空格分隔
                     line = image_name + " " + " ".join(str(face) for face in face_set) + "\n"
@@ -2209,7 +2161,9 @@ class ModelProcessor:
         
         # 保存 face_visible_relative
         try:
-            with open(base_path + "/_face_visible_relative.txt", "w", encoding='utf-8') as relative_file:
+            file_name = "_face_visible_relative.txt"
+            file_path = Path(base_path) / file_name
+            with open(file_path, "w", encoding='utf-8') as relative_file:
                 for face in face_visible_relative:
                     relative_file.write(str(face) + "\n")
         except IOError as e:
@@ -2217,7 +2171,9 @@ class ModelProcessor:
         
         # 保存 edge_faces_map
         try:
-            with open(base_path + "/_edge_faces_map.txt", "w", encoding='utf-8') as map_file2:
+            file_name = "_edge_faces_map.txt"
+            file_path = Path(base_path) / file_name
+            with open(file_path, "w", encoding='utf-8') as map_file2:
                 for image_name, face_set in edge_faces_map.items():
                     line = image_name + " " + " ".join(str(face) for face in face_set) + "\n"
                     map_file2.write(line)
@@ -2226,13 +2182,37 @@ class ModelProcessor:
         
         # 保存 delete_edge_faces_map
         try:
-            with open(base_path + "/_delete_edge_faces_map.txt", "w", encoding='utf-8') as map_file3:
+            file_name = "_delete_edge_faces_map.txt"
+            file_path = Path(base_path) / file_name
+            with open(file_path, "w", encoding='utf-8') as map_file3:
                 for image_name, face_set in delete_edge_faces_map.items():
                     line = image_name + " " + " ".join(str(face) for face in face_set) + "\n"
                     map_file3.write(line)
         except IOError as e:
             print(f"Error writing delete_edge_faces_map file: {e}")
 
+        # 保存 delete_edge_faces_map2
+        try:
+            file_name = "_delete_edge_faces_map2.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 delete_edge_faces_map2.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_map2 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_file5:
+                for image_name, face_set in face_normal_visible_map.items():
+                    line = image_name + " " + " ".join(str(face) for face in face_set) + "\n"
+                    map_file5.write(line)
+        except IOError as e:
+            print(f"Error writing _face_normal_visible_map file: {e}")
+
     def process(self):
 
         print("process")