434 lines
20 KiB
C++
434 lines
20 KiB
C++
/*
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* DensifyPointCloud.cpp
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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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#include "../../libs/MVS/Common.h"
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#include "../../libs/MVS/Scene.h"
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#include <boost/program_options.hpp>
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using namespace MVS;
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// D E F I N E S ///////////////////////////////////////////////////
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#define APPNAME _T("DensifyPointCloud")
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// S T R U C T S ///////////////////////////////////////////////////
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namespace {
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namespace OPT {
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String strInputFileName;
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String strPointCloudFileName;
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String strOutputFileName;
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String strViewNeighborsFileName;
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String strOutputViewNeighborsFileName;
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String strMeshFileName;
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String strExportROIFileName;
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String strImportROIFileName;
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String strDenseConfigFileName;
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String strExportDepthMapsName;
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String strMaskPath;
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float fMaxSubsceneArea;
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float fSampleMesh;
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float fBorderROI;
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bool bCrop2ROI;
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int nEstimateROI;
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int nTowerMode;
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int nFusionMode;
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float fEstimateScale;
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int thFilterPointCloud;
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int nExportNumViews;
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int nArchiveType;
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int nProcessPriority;
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unsigned nMaxThreads;
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String strConfigFileName;
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boost::program_options::variables_map vm;
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} // namespace OPT
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class Application {
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public:
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Application() {}
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~Application() { Finalize(); }
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bool Initialize(size_t argc, LPCTSTR* argv);
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void Finalize();
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}; // Application
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// initialize and parse the command line parameters
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bool Application::Initialize(size_t argc, LPCTSTR* argv)
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{
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// initialize log and console
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OPEN_LOG();
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OPEN_LOGCONSOLE();
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// group of options allowed only on command line
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boost::program_options::options_description generic("Generic options");
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generic.add_options()
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("help,h", "produce this help message")
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("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
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("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
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("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: -1-interface, 0-text, 1-binary, 2-compressed binary")
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("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
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("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
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#if TD_VERBOSE != TD_VERBOSE_OFF
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("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
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#if TD_VERBOSE == TD_VERBOSE_DEBUG
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3
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#else
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2
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#endif
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), "verbosity level")
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#endif
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#ifdef _USE_CUDA
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("cuda-device", boost::program_options::value(&CUDA::desiredDeviceID)->default_value(-1), "CUDA device number to be used for depth-map estimation (-2 - CPU processing, -1 - best GPU, >=0 - device index)")
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#endif
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;
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// group of options allowed both on command line and in config file
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#ifdef _USE_CUDA
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const unsigned nNumViewsDefault(8);
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const unsigned numIters(4);
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#else
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const unsigned nNumViewsDefault(5);
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const unsigned numIters(3);
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#endif
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unsigned nResolutionLevel;
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unsigned nMaxResolution;
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unsigned nMinResolution;
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unsigned nNumViews;
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unsigned nMinViewsFuse;
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unsigned nSubResolutionLevels;
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unsigned nEstimationIters;
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unsigned nEstimationGeometricIters;
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unsigned nEstimateColors;
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unsigned nEstimateNormals;
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unsigned nOptimize;
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int nIgnoreMaskLabel;
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bool bRemoveDmaps;
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boost::program_options::options_description config("Densify options");
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config.add_options()
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("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
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("pointcloud-file,p", boost::program_options::value<std::string>(&OPT::strPointCloudFileName), "sparse point-cloud with views file name to densify (overwrite existing point-cloud)")
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("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the dense point-cloud (optional)")
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("view-neighbors-file", boost::program_options::value<std::string>(&OPT::strViewNeighborsFileName), "input filename containing the list of views and their neighbors (optional)")
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("output-view-neighbors-file", boost::program_options::value<std::string>(&OPT::strOutputViewNeighborsFileName), "output filename containing the generated list of views and their neighbors")
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("resolution-level", boost::program_options::value(&nResolutionLevel)->default_value(1), "how many times to scale down the images before point cloud computation")
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("max-resolution", boost::program_options::value(&nMaxResolution)->default_value(2560), "do not scale images higher than this resolution")
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("min-resolution", boost::program_options::value(&nMinResolution)->default_value(640), "do not scale images lower than this resolution")
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("sub-resolution-levels", boost::program_options::value(&nSubResolutionLevels)->default_value(2), "number of patch-match sub-resolution iterations (0 - disabled)")
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("number-views", boost::program_options::value(&nNumViews)->default_value(nNumViewsDefault), "number of views used for depth-map estimation (0 - all neighbor views available)")
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("number-views-fuse", boost::program_options::value(&nMinViewsFuse)->default_value(3), "minimum number of images that agrees with an estimate during fusion in order to consider it inlier (<2 - only merge depth-maps)")
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("ignore-mask-label", boost::program_options::value(&nIgnoreMaskLabel)->default_value(-1), "label value to ignore in the image mask, stored in the MVS scene or next to each image with '.mask.png' extension (<0 - disabled)")
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("mask-path", boost::program_options::value<std::string>(&OPT::strMaskPath), "path to folder containing mask images with '.mask.png' extension")
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("iters", boost::program_options::value(&nEstimationIters)->default_value(numIters), "number of patch-match iterations")
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("geometric-iters", boost::program_options::value(&nEstimationGeometricIters)->default_value(2), "number of geometric consistent patch-match iterations (0 - disabled)")
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("estimate-colors", boost::program_options::value(&nEstimateColors)->default_value(2), "estimate the colors for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
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("estimate-normals", boost::program_options::value(&nEstimateNormals)->default_value(2), "estimate the normals for the dense point-cloud (0 - disabled, 1 - final, 2 - estimate)")
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("estimate-scale", boost::program_options::value(&OPT::fEstimateScale)->default_value(0.f), "estimate the point-scale for the dense point-cloud (scale multiplier, 0 - disabled)")
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("sub-scene-area", boost::program_options::value(&OPT::fMaxSubsceneArea)->default_value(0.f), "split the scene in sub-scenes such that each sub-scene surface does not exceed the given maximum sampling area (0 - disabled)")
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("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(0.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
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("fusion-mode", boost::program_options::value(&OPT::nFusionMode)->default_value(0), "depth-maps fusion mode (-2 - fuse disparity-maps, -1 - export disparity-maps only, 0 - depth-maps & fusion, 1 - export depth-maps only)")
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("postprocess-dmaps", boost::program_options::value(&nOptimize)->default_value(7), "flags used to filter the depth-maps after estimation (0 - disabled, 1 - remove-speckles, 2 - fill-gaps, 4 - adjust-filter)")
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("filter-point-cloud", boost::program_options::value(&OPT::thFilterPointCloud)->default_value(0), "filter dense point-cloud based on visibility (0 - disabled)")
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("export-number-views", boost::program_options::value(&OPT::nExportNumViews)->default_value(0), "export points with >= number of views (0 - disabled, <0 - save MVS project too)")
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("roi-border", boost::program_options::value(&OPT::fBorderROI)->default_value(0), "add a border to the region-of-interest when cropping the scene (0 - disabled, >0 - percentage, <0 - absolute)")
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("estimate-roi", boost::program_options::value(&OPT::nEstimateROI)->default_value(2), "estimate and set region-of-interest (0 - disabled, 1 - enabled, 2 - adaptive)")
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("crop-to-roi", boost::program_options::value(&OPT::bCrop2ROI)->default_value(true), "crop scene using the region-of-interest")
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("remove-dmaps", boost::program_options::value(&bRemoveDmaps)->default_value(false), "remove depth-maps after fusion")
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("tower-mode", boost::program_options::value(&OPT::nTowerMode)->default_value(4), "add a cylinder of points in the center of ROI; scene assume to be Z-up oriented (0 - disabled, 1 - replace, 2 - append, 3 - select neighbors, 4 - select neighbors & append, <0 - force tower mode)")
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;
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// hidden options, allowed both on command line and
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// in config file, but will not be shown to the user
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boost::program_options::options_description hidden("Hidden options");
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hidden.add_options()
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("mesh-file", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name used for image pair overlap estimation")
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("export-roi-file", boost::program_options::value<std::string>(&OPT::strExportROIFileName), "ROI file name to be exported form the scene")
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("import-roi-file", boost::program_options::value<std::string>(&OPT::strImportROIFileName), "ROI file name to be imported into the scene")
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("dense-config-file", boost::program_options::value<std::string>(&OPT::strDenseConfigFileName), "optional configuration file for the densifier (overwritten by the command line options)")
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("export-depth-maps-name", boost::program_options::value<std::string>(&OPT::strExportDepthMapsName), "render given mesh and save the depth-map for every image to this file name base (empty - disabled)")
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;
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boost::program_options::options_description cmdline_options;
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cmdline_options.add(generic).add(config).add(hidden);
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boost::program_options::options_description config_file_options;
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config_file_options.add(config).add(hidden);
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boost::program_options::positional_options_description p;
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p.add("input-file", -1);
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try {
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// parse command line options
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boost::program_options::store(boost::program_options::command_line_parser((int)argc, argv).options(cmdline_options).positional(p).run(), OPT::vm);
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boost::program_options::notify(OPT::vm);
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INIT_WORKING_FOLDER;
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// parse configuration file
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std::ifstream ifs(MAKE_PATH_SAFE(OPT::strConfigFileName));
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if (ifs) {
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boost::program_options::store(parse_config_file(ifs, config_file_options), OPT::vm);
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boost::program_options::notify(OPT::vm);
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}
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}
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catch (const std::exception& e) {
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LOG(e.what());
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return false;
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}
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// initialize the log file
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OPEN_LOGFILE(MAKE_PATH(APPNAME _T("-")+Util::getUniqueName(0)+_T(".log")).c_str());
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// print application details: version and command line
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Util::LogBuild();
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LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
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// validate input
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Util::ensureValidPath(OPT::strInputFileName);
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if (OPT::vm.count("help") || OPT::strInputFileName.empty()) {
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boost::program_options::options_description visible("Available options");
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visible.add(generic).add(config);
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GET_LOG() << visible;
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}
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if (OPT::strInputFileName.empty())
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return false;
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// initialize optional options
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Util::ensureValidPath(OPT::strPointCloudFileName);
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Util::ensureValidPath(OPT::strOutputFileName);
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Util::ensureValidPath(OPT::strViewNeighborsFileName);
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Util::ensureValidPath(OPT::strOutputViewNeighborsFileName);
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Util::ensureValidPath(OPT::strMeshFileName);
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Util::ensureValidPath(OPT::strExportROIFileName);
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Util::ensureValidPath(OPT::strImportROIFileName);
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if (OPT::strOutputFileName.empty())
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OPT::strOutputFileName = Util::getFileFullName(OPT::strInputFileName) + _T("_dense.mvs");
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// init dense options
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if (!OPT::strDenseConfigFileName.empty())
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OPT::strDenseConfigFileName = MAKE_PATH_SAFE(OPT::strDenseConfigFileName);
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OPTDENSE::init();
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const bool bValidConfig(OPTDENSE::oConfig.Load(OPT::strDenseConfigFileName));
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OPTDENSE::update();
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OPTDENSE::nResolutionLevel = nResolutionLevel;
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OPTDENSE::nMaxResolution = nMaxResolution;
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OPTDENSE::nMinResolution = nMinResolution;
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OPTDENSE::nSubResolutionLevels = nSubResolutionLevels;
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OPTDENSE::nNumViews = nNumViews;
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OPTDENSE::nMinViewsFuse = nMinViewsFuse;
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OPTDENSE::nEstimationIters = nEstimationIters;
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OPTDENSE::nEstimationGeometricIters = nEstimationGeometricIters;
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OPTDENSE::nEstimateColors = nEstimateColors;
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OPTDENSE::nEstimateNormals = nEstimateNormals;
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OPTDENSE::nOptimize = nOptimize;
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OPTDENSE::nIgnoreMaskLabel = nIgnoreMaskLabel;
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OPTDENSE::bRemoveDmaps = bRemoveDmaps;
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if (!bValidConfig && !OPT::strDenseConfigFileName.empty())
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OPTDENSE::oConfig.Save(OPT::strDenseConfigFileName);
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MVS::Initialize(APPNAME, OPT::nMaxThreads, OPT::nProcessPriority);
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return true;
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}
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// finalize application instance
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void Application::Finalize()
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{
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MVS::Finalize();
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CLOSE_LOGFILE();
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CLOSE_LOGCONSOLE();
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CLOSE_LOG();
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}
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} // unnamed namespace
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int main(int argc, LPCTSTR* argv)
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{
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#ifdef _DEBUGINFO
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// set _crtBreakAlloc index to stop in <dbgheap.c> at allocation
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_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
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#endif
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Application application;
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if (!application.Initialize(argc, argv))
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return EXIT_FAILURE;
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Scene scene(OPT::nMaxThreads);
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if (OPT::fSampleMesh != 0) {
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// sample input mesh and export the obtained point-cloud
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if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName), true) || scene.mesh.IsEmpty())
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return EXIT_FAILURE;
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TD_TIMER_START();
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PointCloud pointcloud;
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if (OPT::fSampleMesh > 0)
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scene.mesh.SamplePoints(OPT::fSampleMesh, 0, pointcloud);
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else
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scene.mesh.SamplePoints(ROUND2INT<unsigned>(-OPT::fSampleMesh), pointcloud);
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VERBOSE("Sample mesh completed: %u points (%s)", pointcloud.GetSize(), TD_TIMER_GET_FMT().c_str());
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pointcloud.Save(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+_T(".ply"));
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return EXIT_SUCCESS;
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}
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// load and estimate a dense point-cloud
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const Scene::SCENE_TYPE sceneType(scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)));
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if (sceneType == Scene::SCENE_NA)
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return EXIT_FAILURE;
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if (!OPT::strPointCloudFileName.empty() && !scene.pointcloud.Load(MAKE_PATH_SAFE(OPT::strPointCloudFileName))) {
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VERBOSE("error: cannot load point-cloud file");
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return EXIT_FAILURE;
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}
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if (!OPT::strMaskPath.empty()) {
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Util::ensureValidFolderPath(OPT::strMaskPath);
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for (Image& image : scene.images) {
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if (!image.maskName.empty()) {
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VERBOSE("error: Image %s has non-empty maskName %s", image.name.c_str(), image.maskName.c_str());
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return EXIT_FAILURE;
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}
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image.maskName = OPT::strMaskPath + Util::getFileName(image.name) + ".mask.png";
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if (!File::access(image.maskName)) {
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VERBOSE("error: Mask image %s not found", image.maskName.c_str());
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return EXIT_FAILURE;
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}
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}
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}
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if (!OPT::strImportROIFileName.empty()) {
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std::ifstream fs(MAKE_PATH_SAFE(OPT::strImportROIFileName));
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if (!fs)
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return EXIT_FAILURE;
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fs >> scene.obb;
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scene.Save(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
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return EXIT_SUCCESS;
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}
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if (!scene.IsBounded())
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scene.EstimateROI(OPT::nEstimateROI, 1.1f);
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if (!OPT::strExportROIFileName.empty() && scene.IsBounded()) {
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std::ofstream fs(MAKE_PATH_SAFE(OPT::strExportROIFileName));
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if (!fs)
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return EXIT_FAILURE;
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fs << scene.obb;
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return EXIT_SUCCESS;
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}
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if (OPT::nTowerMode!=0)
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scene.InitTowerScene(OPT::nTowerMode);
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if (!OPT::strMeshFileName.empty())
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scene.mesh.Load(MAKE_PATH_SAFE(OPT::strMeshFileName));
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if (!OPT::strViewNeighborsFileName.empty())
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scene.LoadViewNeighbors(MAKE_PATH_SAFE(OPT::strViewNeighborsFileName));
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if (!OPT::strOutputViewNeighborsFileName.empty()) {
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if (!scene.ImagesHaveNeighbors()) {
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VERBOSE("error: neighbor views not computed yet");
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return EXIT_FAILURE;
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}
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scene.SaveViewNeighbors(MAKE_PATH_SAFE(OPT::strOutputViewNeighborsFileName));
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return EXIT_SUCCESS;
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}
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if (!OPT::strExportDepthMapsName.empty() && !scene.mesh.IsEmpty()) {
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// project mesh onto each image and save the resulted depth-maps
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TD_TIMER_START();
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if (!scene.ExportMeshToDepthMaps(MAKE_PATH_SAFE(OPT::strExportDepthMapsName)))
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return EXIT_FAILURE;
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VERBOSE("Mesh projection completed: %u depth-maps (%s)", scene.images.size(), TD_TIMER_GET_FMT().c_str());
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return EXIT_SUCCESS;
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}
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if (OPT::fMaxSubsceneArea > 0) {
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// split the scene in sub-scenes by maximum sampling area
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Scene::ImagesChunkArr chunks;
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scene.Split(chunks, OPT::fMaxSubsceneArea);
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scene.ExportChunks(chunks, GET_PATH_FULL(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
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return EXIT_SUCCESS;
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}
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if (OPT::thFilterPointCloud < 0) {
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// filter point-cloud based on camera-point visibility intersections
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scene.PointCloudFilter(OPT::thFilterPointCloud);
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const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+_T("_filtered"));
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scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
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scene.pointcloud.Save(baseFileName+_T(".ply"));
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return EXIT_SUCCESS;
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}
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if (OPT::nExportNumViews && scene.pointcloud.IsValid()) {
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// export point-cloud containing only points with N+ views
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const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+
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String::FormatString(_T("_%dviews"), ABS(OPT::nExportNumViews)));
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if (OPT::nExportNumViews > 0) {
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// export point-cloud containing only points with N+ views
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scene.pointcloud.SaveNViews(baseFileName+_T(".ply"), (IIndex)OPT::nExportNumViews);
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} else {
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// save scene and export point-cloud containing only points with N+ views
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scene.pointcloud.RemoveMinViews((IIndex)-OPT::nExportNumViews);
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|
scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
|
|
scene.pointcloud.Save(baseFileName+_T(".ply"));
|
|
}
|
|
return EXIT_SUCCESS;
|
|
}
|
|
if (OPT::fEstimateScale > 0 && !scene.pointcloud.IsEmpty() && !scene.images.empty()) {
|
|
// simply export existing point-cloud with scale
|
|
if (scene.pointcloud.normals.empty()) {
|
|
if (!scene.pointcloud.IsValid()) {
|
|
VERBOSE("error: can not estimate normals as the point-cloud is not valid");
|
|
return EXIT_FAILURE;
|
|
}
|
|
EstimatePointNormals(scene.images, scene.pointcloud);
|
|
}
|
|
const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
|
|
scene.pointcloud.SaveWithScale(baseFileName+_T("_scale.ply"), scene.images, OPT::fEstimateScale);
|
|
return EXIT_SUCCESS;
|
|
}
|
|
PointCloud sparsePointCloud;
|
|
if ((ARCHIVE_TYPE)OPT::nArchiveType != ARCHIVE_MVS || sceneType == Scene::SCENE_INTERFACE) {
|
|
#if TD_VERBOSE != TD_VERBOSE_OFF
|
|
if (VERBOSITY_LEVEL > 1 && !scene.pointcloud.IsEmpty())
|
|
scene.pointcloud.PrintStatistics(scene.images.data(), &scene.obb);
|
|
#endif
|
|
if ((ARCHIVE_TYPE)OPT::nArchiveType == ARCHIVE_MVS)
|
|
sparsePointCloud = scene.pointcloud;
|
|
TD_TIMER_START();
|
|
if (!scene.DenseReconstruction(OPT::nFusionMode, OPT::bCrop2ROI, OPT::fBorderROI)) {
|
|
if (ABS(OPT::nFusionMode) != 1)
|
|
return EXIT_FAILURE;
|
|
VERBOSE("Depth-maps estimated (%s)", TD_TIMER_GET_FMT().c_str());
|
|
return EXIT_SUCCESS;
|
|
}
|
|
VERBOSE("Densifying point-cloud completed: %u points (%s)", scene.pointcloud.GetSize(), TD_TIMER_GET_FMT().c_str());
|
|
}
|
|
|
|
// save the final point-cloud
|
|
const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
|
|
scene.pointcloud.Save(baseFileName+_T(".ply"), (ARCHIVE_TYPE)OPT::nArchiveType == ARCHIVE_MVS);
|
|
#if TD_VERBOSE != TD_VERBOSE_OFF
|
|
if (VERBOSITY_LEVEL > 2)
|
|
scene.ExportCamerasMLP(baseFileName+_T(".mlp"), baseFileName+_T(".ply"));
|
|
#endif
|
|
if ((ARCHIVE_TYPE)OPT::nArchiveType == ARCHIVE_MVS)
|
|
scene.pointcloud.Swap(sparsePointCloud);
|
|
scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
|
|
return EXIT_SUCCESS;
|
|
}
|
|
/*----------------------------------------------------------------*/
|