119 lines
3.5 KiB
C++
119 lines
3.5 KiB
C++
/*
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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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