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118 lines
3.5 KiB
118 lines
3.5 KiB
/* |
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* SceneDensify.h |
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* |
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* Copyright (c) 2014-2015 SEACAVE |
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* |
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* Author(s): |
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* |
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* cDc <cdc.seacave@gmail.com> |
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* |
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* |
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* This program is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU Affero General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* This program is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU Affero General Public License for more details. |
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* |
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* You should have received a copy of the GNU Affero General Public License |
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* along with this program. If not, see <http://www.gnu.org/licenses/>. |
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* |
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* |
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* Additional Terms: |
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* |
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* You are required to preserve legal notices and author attributions in |
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* that material or in the Appropriate Legal Notices displayed by works |
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* containing it. |
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*/ |
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#ifndef _MVS_SCENEDENSIFY_H_ |
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#define _MVS_SCENEDENSIFY_H_ |
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// I N C L U D E S ///////////////////////////////////////////////// |
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#include "SemiGlobalMatcher.h" |
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// S T R U C T S /////////////////////////////////////////////////// |
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namespace MVS { |
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// Forward declarations |
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class MVS_API Scene; |
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#ifdef _USE_CUDA |
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class PatchMatchCUDA; |
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#endif // _USE_CUDA |
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// structure used to compute all depth-maps |
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class MVS_API DepthMapsData |
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{ |
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public: |
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DepthMapsData(Scene& _scene); |
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~DepthMapsData(); |
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bool SelectViews(IIndexArr& images, IIndexArr& imagesMap, IIndexArr& neighborsMap); |
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bool SelectViews(DepthData& depthData); |
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bool InitViews(DepthData& depthData, IIndex idxNeighbor, IIndex numNeighbors, bool loadImages, int loadDepthMaps); |
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bool InitDepthMap(DepthData& depthData); |
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bool EstimateDepthMap(IIndex idxImage, int nGeometricIter); |
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bool RemoveSmallSegments(DepthData& depthData); |
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bool GapInterpolation(DepthData& depthData); |
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bool FilterDepthMap(DepthData& depthData, const IIndexArr& idxNeighbors, bool bAdjust=true); |
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void MergeDepthMaps(PointCloud& pointcloud, bool bEstimateColor, bool bEstimateNormal); |
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void FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, bool bEstimateNormal); |
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static DepthData ScaleDepthData(const DepthData& inputDeptData, float scale); |
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protected: |
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static void* STCALL ScoreDepthMapTmp(void*); |
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static void* STCALL EstimateDepthMapTmp(void*); |
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static void* STCALL EndDepthMapTmp(void*); |
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public: |
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Scene& scene; |
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DepthDataArr arrDepthData; |
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// used internally to estimate the depth-maps |
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Image8U::Size prevDepthMapSize; // remember the size of the last estimated depth-map |
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Image8U::Size prevDepthMapSizeTrg; // ... same for target image |
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DepthEstimator::MapRefArr coords; // map pixel index to zigzag matrix coordinates |
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DepthEstimator::MapRefArr coordsTrg; // ... same for target image |
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#ifdef _USE_CUDA |
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// used internally to estimate the depth-maps using CUDA |
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CAutoPtr<PatchMatchCUDA> pmCUDA; |
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#endif // _USE_CUDA |
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}; |
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/*----------------------------------------------------------------*/ |
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struct MVS_API DenseDepthMapData { |
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Scene& scene; |
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IIndexArr images; |
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IIndexArr neighborsMap; |
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DepthMapsData depthMaps; |
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volatile Thread::safe_t idxImage; |
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SEACAVE::EventQueue events; // internal events queue (processed by the working threads) |
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Semaphore sem; |
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CAutoPtr<Util::Progress> progress; |
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int nEstimationGeometricIter; |
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int nFusionMode; |
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STEREO::SemiGlobalMatcher sgm; |
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DenseDepthMapData(Scene& _scene, int _nFusionMode=0); |
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~DenseDepthMapData(); |
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void SignalCompleteDepthmapFilter(); |
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}; |
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/*----------------------------------------------------------------*/ |
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} // namespace MVS |
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#endif
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