add task5 twice

Author: swayfreeda

examples/task5/CMakeLists.txt

@@ -0,0 +1,29 @@
+project(class5)
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_FLAGS "-fPIC")
+
+include_directories("../..")
+
+
+set(DMRECON_SINGLE_VIEW_SOURCES
+        class5_dmrecon_single_view.cc)
+add_executable(task5_dmrecon_single_view ${DMRECON_SINGLE_VIEW_SOURCES})
+target_link_libraries(task5_dmrecon_single_view mvs util core)
+
+
+set(DMRECON_MULTIPLE_VIEWs_SOURCES
+        class5_dmrecon_multi_views.cc)
+add_executable(task5_dmrecon_multi_views ${DMRECON_MULTIPLE_VIEWs_SOURCES})
+target_link_libraries(task5_dmrecon_multi_views mvs util core)
+
+
+set(SCENE2PSET_SINGLE_VIEW_SOURCES
+        class5_scene2pset_single_view.cc)
+add_executable(class5_scene2pset_single_view ${SCENE2PSET_SINGLE_VIEW_SOURCES})
+target_link_libraries(class5_scene2pset_single_view mvs util core)
+
+
+set(SCENE2PSET_MULTI_VIEWS_SOURCES
+        class5_scene2pset_multi_views.cc)
+add_executable(class5_scene2pset_multi_views ${SCENE2PSET_MULTI_VIEWS_SOURCES})
+target_link_libraries(class5_scene2pset_multi_views mvs util core)

examples/task5/class5_scene2pset_multi_views.cc

@@ -0,0 +1,185 @@
+/*
+ * Copyright (C) 2015, Simon Fuhrmann
+ * TU Darmstadt - Graphics, Capture and Massively Parallel Computing
+ * All rights reserved.
+ *
+ * This software may be modified and distributed under the terms
+ * of the BSD 3-Clause license. See the LICENSE.txt file for details.
+ */
+
+#include <iostream>
+#include <stdexcept>
+#include <algorithm>
+#include <vector>
+#include <string>
+#include <cstring>
+#include <cerrno>
+#include <cstdlib>
+
+#include "core/depthmap.h"
+#include "core/mesh_info.h"
+#include "core/mesh_io.h"
+#include "core/mesh_io_ply.h"
+#include "core/mesh_tools.h"
+#include "core/scene.h"
+#include "core/view.h"
+
+
+struct AppSettings
+{
+    std::string scenedir;
+    std::string outmesh;
+    std::string dmname = "depth-L0";
+    std::string imagename = "undistorted";
+    std::string mask;
+    std::string aabb;
+    bool with_normals = true;
+    bool with_scale = true;
+    bool with_conf = true;
+    bool poisson_normals = false;
+    float min_valid_fraction = 0.0f;
+    float scale_factor = 2.5f; /* "Radius" of MVS patch (usually 5x5). */
+    std::vector<int> ids;
+    int view_id = -1;
+    float dd_factor = 5.0f;
+    int scale = 0;
+};
+
+int
+main (int argc, char** argv)
+{
+
+    if(argc<4){
+        std::cout<<"usage: scendir outmeshdir(.ply) scale"<<std::endl;
+        return -1;
+    }
+
+    AppSettings conf;
+
+    // 场景文件夹
+    conf.scenedir = argv[1];
+    // 输出网格文件
+    conf.outmesh= argv[2];
+    // 获取图像尺度
+    std::stringstream stream(argv[3]);
+    stream>>conf.scale;
+
+    conf.dmname = std::string("depth-L") + argv[3];
+    conf.imagename = (conf.scale == 0)
+                ? "undistorted"
+                : std::string("undist-L") + argv[3];
+
+    std::cout << "Using depthmap \"" << conf.dmname
+        << "\" and color image \"" << conf.imagename << "\"" << std::endl;
+
+    /* Prepare output mesh. */
+    core::TriangleMesh::Ptr pset(core::TriangleMesh::create());
+    core::TriangleMesh::VertexList& verts(pset->get_vertices());
+    core::TriangleMesh::NormalList& vnorm(pset->get_vertex_normals());
+    core::TriangleMesh::ColorList& vcolor(pset->get_vertex_colors());
+    core::TriangleMesh::ValueList& vvalues(pset->get_vertex_values()); // scale
+    core::TriangleMesh::ConfidenceList& vconfs(pset->get_vertex_confidences());
+
+    /* Load scene. */
+    core::Scene::Ptr scene = core::Scene::create(conf.scenedir);
+
+    /* Iterate over views and get points. */
+    core::Scene::ViewList& views(scene->get_views());
+
+    for (std::size_t i = 0; i < views.size(); ++i) {
+        core::View::Ptr view = views[i];
+        if (view == nullptr)
+            continue;
+
+        std::size_t view_id = view->get_id();
+
+        // 保证存在相机参数
+        core::CameraInfo const& cam = view->get_camera();
+        if (cam.flen == 0.0f)
+            continue;
+
+        core::FloatImage::Ptr dm = view->get_float_image(conf.dmname);
+        if (dm == nullptr)
+            continue;
+
+        // color image
+        core::ByteImage::Ptr ci;
+        if (!conf.imagename.empty())
+            ci = view->get_byte_image(conf.imagename);
+
+        std::cout << "Processing view \"" << view->get_name()
+            << "\"" << (ci != nullptr ? " (with colors)" : "")
+            << "..." << std::endl;
+
+        /* Triangulate depth map. */
+        core::TriangleMesh::Ptr mesh;
+        mesh = core::geom::depthmap_triangulate(dm, ci, cam);
+
+        core::TriangleMesh::VertexList const& corerts(mesh->get_vertices());
+        core::TriangleMesh::NormalList const& mnorms(mesh->get_vertex_normals());
+        core::TriangleMesh::ColorList const& mvcol(mesh->get_vertex_colors());
+        core::TriangleMesh::ConfidenceList& mconfs(mesh->get_vertex_confidences());
+
+        if (conf.with_normals)
+            mesh->ensure_normals();
+
+        /* If confidence is requested, compute it. */
+        if (conf.with_conf) {
+            /* Per-vertex confidence down-weighting boundaries. */
+            core::geom::depthmap_mesh_confidences(mesh, 4);
+        }
+
+        /* If scale is requested, compute it. */
+        std::vector<float> mvscale;
+        if (conf.with_scale) {
+            mvscale.resize(corerts.size(), 0.0f);
+            core::MeshInfo mesh_info(mesh);
+            // 遍历每一个顶点的信息
+            for (std::size_t j = 0; j < mesh_info.size(); ++j) {
+                // 获取每一个顶点的信息
+                core::MeshInfo::VertexInfo const& vinf = mesh_info[j];
+                // 顶点到所有邻域的距离的平均值，类似于求顶点的分辨率
+                for (std::size_t k = 0; k < vinf.verts.size(); ++k)
+                    mvscale[j] += (corerts[j] - corerts[vinf.verts[k]]).norm();
+                mvscale[j] /= static_cast<float>(vinf.verts.size());
+                mvscale[j] *= conf.scale_factor;
+            }
+        }
+
+        // 将所有视角的三维点云集中到一起
+        // 顶点坐标
+        verts.insert(verts.end(), corerts.begin(), corerts.end());
+        // 顶点颜色
+        if (!mvcol.empty())
+           vcolor.insert(vcolor.end(), mvcol.begin(), mvcol.end());
+        //顶点法向量
+        if (conf.with_normals)
+           vnorm.insert(vnorm.end(), mnorms.begin(), mnorms.end());
+
+        // 顶点尺度(分辨率）
+        if (conf.with_scale)
+           vvalues.insert(vvalues.end(), mvscale.begin(), mvscale.end());
+
+        // 顶点置信度
+        if (conf.with_conf)
+           vconfs.insert(vconfs.end(), mconfs.begin(), mconfs.end());
+
+        dm.reset();
+        ci.reset();
+        view->cache_cleanup();
+    }
+
+    /* Write mesh to disc. */
+    std::cout << "Writing final point set (" << verts.size() << " points)..." << std::endl;
+    assert(util::string::right(arg.outmesh, 4) == ".ply");
+    {
+        core::geom::SavePLYOptions opts;
+        opts.write_vertex_normals = conf.with_normals;
+        opts.write_vertex_values = conf.with_scale;
+        opts.write_vertex_confidences = conf.with_conf;
+        core::geom::save_ply_mesh(pset, conf.outmesh, opts);
+    }
+
+
+    return EXIT_SUCCESS;
+}