fix problems of texturing

Author: swayfreeda

CMakeLists.txt

@@ -19,6 +19,9 @@ add_subdirectory(mvs)
 add_subdirectory(examples)
 add_subdirectory(surface)
 add_subdirectory(texturing)
-add_subdirectory(3rdParty/rayint)
+add_subdirectory(3rdParty/mrf)
+add_subdirectory(3rdParty/coldet)
+add_subdirectory(3rdParty/gco)
+#add_subdirectory(3rdParty/rayint)
 #add_subdirectory(3rdParty/eigen)
 #add_subdirectory(3rdParty/mapmap)

core/depthmap.cc

@@ -135,7 +135,6 @@ CORE_NAMESPACE_END
 CORE_NAMESPACE_BEGIN
 CORE_GEOM_NAMESPACE_BEGIN
 
-// todo foot print 是什么意思??
 float
 pixel_footprint (std::size_t x, std::size_t y, float depth,
     math::Matrix3f const& invproj)
@@ -168,11 +167,13 @@ dm_make_triangle (TriangleMesh* mesh, core::Image<unsigned int>& vidx,
     core::TriangleMesh::VertexList& verts(mesh->get_vertices());
     core::TriangleMesh::FaceList& faces(mesh->get_faces());
 
-    for (int j = 0; j < 3; ++j) {
+    for (int j = 0; j < 3; ++j)
+    {
         int iidx = i + (tverts[j] % 2) + width * (tverts[j] / 2);
         int x = iidx % width;
         int y = iidx / width;
-        if (vidx.at(iidx) == MATH_MAX_UINT) {
+        if (vidx.at(iidx) == MATH_MAX_UINT)
+        {
             /* Add vertex for depth pixel. */
             vidx.at(iidx) = verts.size();
             float depth = dm->at(iidx, 0);
@@ -210,79 +211,59 @@ TriangleMesh::Ptr
 depthmap_triangulate (FloatImage::ConstPtr dm, math::Matrix3f const& invproj,
     float dd_factor, core::Image<unsigned int>* vids)
 {
-    // 深度图不为空
     if (dm == nullptr)
         throw std::invalid_argument("Null depthmap given");
 
-    // 图像的宽和高
     int const width = dm->width();
     int const height = dm->height();
 
-    // 创建三角网格接结构体
     /* Prepare triangle mesh. */
     TriangleMesh::Ptr mesh(TriangleMesh::create());
 
     /* Generate image that maps image pixels to vertex IDs. */
-    // 创建映射图，将图像像素映射到三维点的索引
     core::Image<unsigned int> vidx(width, height, 1);
     vidx.fill(MATH_MAX_UINT);
 
-    // 在深度图中遍历2x2 blocks，并且创建三角面片
     /* Iterate over 2x2-blocks in the depthmap and create triangles. */
     int i = 0;
-    for (int y = 0; y < height - 1; ++y, ++i) {
-        for (int x = 0; x < width - 1; ++x, ++i) {
-
+    for (int y = 0; y < height - 1; ++y, ++i)
+    {
+        for (int x = 0; x < width - 1; ++x, ++i)
+        {
             /* Cache the four depth values. */
-            /*
-             * 0, 1
-             * 2, 3
-             */
-            float depths[4] = { dm->at(i, 0),         dm->at(i + 1, 0),
-                                dm->at(i + width, 0), dm->at(i + width + 1, 0)
-                              };
+            float depths[4] = { dm->at(i, 0), dm->at(i + 1, 0),
+                dm->at(i + width, 0), dm->at(i + width + 1, 0) };
 
             /* Create a mask representation of the available depth values. */
-            /* 创建mask记录深度有效的像素个数
-             * mask=0000, 0001, 0010, 0011, 0100, 0101, 0110, 0111, 1000, 1001,
-             *      1010, 1011, 1100, 1101, 1110, 1111
-             */
             int mask = 0;
             int pixels = 0;
-            for (int j = 0; j < 4; ++j){
-                if (depths[j] > 0.0f) {
+            for (int j = 0; j < 4; ++j)
+                if (depths[j] > 0.0f)
+                {
                     mask |= 1 << j;
                     pixels += 1;
                 }
-            }
 
-            // 至少保证3个深度值是可靠的
             /* At least three valid depth values are required. */
             if (pixels < 3)
                 continue;
 
-
             /* Possible triangles, vertex indices relative to 2x2 block. */
-            /* 可能出现的三角面片对,4个点有2个面片
-             */
             int tris[4][3] = {
                 { 0, 2, 1 }, { 0, 3, 1 }, { 0, 2, 3 }, { 1, 2, 3 }
             };
 
             /* Decide which triangles to issue. */
-            /* 决定用哪对面片
-             */
             int tri[2] = { 0, 0 };
 
-            switch (mask) {
-
-                case 7: tri[0] = 1; break;  // 0111- 0，1，2
-                case 11: tri[0] = 2; break; // 1011- 0，1，3
-                case 13: tri[0] = 3; break; // 1101- 0，2，3
-                case 14: tri[0] = 4; break; // 1110- 1，2，3
-                case 15:                    // 1111- 0，1，2，3
+            switch (mask)
+            {
+                case 7: tri[0] = 1; break;
+                case 11: tri[0] = 2; break;
+                case 13: tri[0] = 3; break;
+                case 14: tri[0] = 4; break;
+                case 15:
                 {
-                    // 空圆特性
                     /* Choose the triangulation with smaller diagonal. */
                     float ddiff1 = std::abs(depths[0] - depths[3]);
                     float ddiff2 = std::abs(depths[1] - depths[2]);
@@ -296,18 +277,21 @@ depthmap_triangulate (FloatImage::ConstPtr dm, math::Matrix3f const& invproj,
             }
 
             /* Omit depth discontinuity detection if dd_factor is zero. */
-            if (dd_factor > 0.0f) {
+            if (dd_factor > 0.0f)
+            {
                 /* Cache pixel footprints. */
                 float widths[4];
-                for (int j = 0; j < 4; ++j) {
+                for (int j = 0; j < 4; ++j)
+                {
                     if (depths[j] == 0.0f)
                         continue;
-                    widths[j] = pixel_footprint(x + (j % 2), y + (j / 2), depths[j], invproj);// w, h, focal_len);
+                    widths[j] = pixel_footprint(x + (j % 2), y + (j / 2),
+                        depths[j], invproj);// w, h, focal_len);
                 }
 
-                // 检查深度不一致性，相邻像素的深度差值不要超过像素宽度(三维空间中）的dd_factor倍
                 /* Check for depth discontinuities. */
-                for (int j = 0; j < 2 && tri[j] != 0; ++j) {
+                for (int j = 0; j < 2 && tri[j] != 0; ++j)
+                {
                     int* tv = tris[tri[j] - 1];
                     #define DM_DD_ARGS widths, depths, dd_factor
                     if (dm_is_depthdisc(DM_DD_ARGS, tv[0], tv[1])) tri[j] = 0;
@@ -317,7 +301,8 @@ depthmap_triangulate (FloatImage::ConstPtr dm, math::Matrix3f const& invproj,
             }
 
             /* Build triangles. */
-            for (int j = 0; j < 2; ++j) {
+            for (int j = 0; j < 2; ++j)
+            {
                 if (tri[j] == 0) continue;
                 #define DM_MAKE_TRI_ARGS mesh.get(), vidx, dm.get(), invproj, i
                 dm_make_triangle(DM_MAKE_TRI_ARGS, tris[tri[j] - 1]);
@@ -337,48 +322,42 @@ TriangleMesh::Ptr
 depthmap_triangulate (FloatImage::ConstPtr dm, ByteImage::ConstPtr ci,
     math::Matrix3f const& invproj, float dd_factor)
 {
-    // 深度图像不为空
     if (dm == nullptr)
         throw std::invalid_argument("Null depthmap given");
 
-    // 图像的宽和高
     int const width = dm->width();
     int const height = dm->height();
 
-    // 彩色图像不为空，且和深度图像宽和高一致
     if (ci != nullptr && (ci->width() != width || ci->height() != height))
         throw std::invalid_argument("Color image dimension mismatch");
 
     /* Triangulate depth map. */
-    // 对深度图进行三角化
     core::Image<unsigned int> vids;
     core::TriangleMesh::Ptr mesh;
     mesh = core::geom::depthmap_triangulate(dm, invproj, dd_factor, &vids);
 
-    // 获取颜色
     if (ci == nullptr)
         return mesh;
 
-    /*计算顶点的颜色*/
     /* Use vertex index mapping to color the mesh. */
     core::TriangleMesh::ColorList& colors(mesh->get_vertex_colors());
     core::TriangleMesh::VertexList const& verts(mesh->get_vertices());
     colors.resize(verts.size());
 
-    // 像素个数
     int num_pixel = vids.get_pixel_amount();
     for (int i = 0; i < num_pixel; ++i)
     {
-        // 像素没有对应的顶点
         if (vids[i] == MATH_MAX_UINT)
             continue;
 
         math::Vec4f color(ci->at(i, 0), 0.0f, 0.0f, 255.0f);
-        if (ci->channels() >= 3) {
+        if (ci->channels() >= 3)
+        {
             color[1] = ci->at(i, 1);
             color[2] = ci->at(i, 2);
         }
-        else {
+        else
+        {
             color[1] = color[2] = color[0];
         }
         colors[vids[i]] = color / 255.0f;
@@ -393,29 +372,22 @@ TriangleMesh::Ptr
 depthmap_triangulate (FloatImage::ConstPtr dm, ByteImage::ConstPtr ci,
     CameraInfo const& cam, float dd_factor)
 {
-    // 确保深度图不为空
     if (dm == nullptr)
         throw std::invalid_argument("Null depthmap given");
-
-    // 确保相机参数已经恢复
     if (cam.flen == 0.0f)
         throw std::invalid_argument("Invalid camera given");
 
     /* Triangulate depth map. */
-    // 计算投影矩阵的逆矩阵
     math::Matrix3f invproj;
     cam.fill_inverse_calibration(*invproj, dm->width(), dm->height());
-
-    // 对深度图进行三角化，注意此时的mesh顶点坐标位于相机坐标系中
     core::TriangleMesh::Ptr mesh;
     mesh = core::geom::depthmap_triangulate(dm, ci, invproj, dd_factor);
 
     /* Transform mesh to world coordinates. */
-    // 将网格从相机坐标系转化到世界坐标系中
     math::Matrix4f ctw;
     cam.fill_cam_to_world(*ctw);
     core::geom::mesh_transform(mesh, ctw);
-    //mesh->recalc_normals(false, true); // Remove this?
+    mesh->recalc_normals(false, true); // Remove this?
 
     return mesh;
 }
@@ -534,10 +506,12 @@ depthmap_mesh_confidences (TriangleMesh::Ptr mesh, int iterations)
 
     /* Find boundary vertices and remember them. */
     std::vector<std::size_t> vidx;
-    MeshInfo mesh_info(mesh);
+    VertexInfoList vinfo(mesh);
 
-    for (std::size_t i = 0; i < mesh_info.size(); ++i) {
-        if (mesh_info[i].vclass == MeshInfo::VERTEX_CLASS_BORDER)
+    for (std::size_t i = 0; i < vinfo.size(); ++i)
+    {
+        MeshVertexInfo const& info(vinfo[i]);
+        if (info.vclass == VERTEX_CLASS_BORDER)
             vidx.push_back(i);
     }
 
@@ -557,7 +531,7 @@ depthmap_mesh_confidences (TriangleMesh::Ptr mesh, int iterations)
         std::swap(vidx, cvidx);
         for (std::size_t i = 0; i < cvidx.size(); ++i)
         {
-            MeshInfo::VertexInfo info = mesh_info[cvidx[i]];
+            MeshVertexInfo info = vinfo[cvidx[i]];
             for (std::size_t j = 0; j < info.verts.size(); ++j)
                 if (confs[info.verts[j]] == 1.0f)
                     vidx.push_back(info.verts[j]);
@@ -586,11 +560,11 @@ depthmap_mesh_peeling (TriangleMesh::Ptr mesh, int iterations)
     /* Iteratively invalidate triangles at the boundary. */
     for (int iter = 0; iter < iterations; ++iter)
     {
-        MeshInfo mesh_info(mesh);
-        for (std::size_t i = 0; i < mesh_info.size(); ++i)
+        VertexInfoList::Ptr vinfo(VertexInfoList::create(mesh));
+        for (std::size_t i = 0; i < vinfo->size(); ++i)
         {
-            MeshInfo::VertexInfo const& info(mesh_info[i]);
-            if (info.vclass == MeshInfo::VERTEX_CLASS_BORDER)
+            MeshVertexInfo const& info(vinfo->at(i));
+            if (info.vclass == VERTEX_CLASS_BORDER)
                 for (std::size_t j = 0; j < info.faces.size(); ++j)
                     for (int k = 0; k < 3; ++k)
                     {

core/depthmap.h

@@ -10,9 +10,9 @@
 #ifndef MVE_DEPTHMAP_HEADER
 #define MVE_DEPTHMAP_HEADER
 
-#include "core/defines.h"
 #include "math/vector.h"
 #include "math/matrix.h"
+#include "core/defines.h"
 #include "core/camera.h"
 #include "core/image.h"
 #include "core/mesh.h"
@@ -61,7 +61,7 @@ depthmap_bilateral_filter (FloatImage::ConstPtr dm,
 template <typename T>
 void
 depthmap_convert_conventions (typename Image<T>::Ptr dm,
-    math::Matrix3f const& invproj, bool to_mve);
+    math::Matrix3f const& invproj, bool to_core);
 
 CORE_IMAGE_NAMESPACE_END
 CORE_NAMESPACE_END
@@ -89,7 +89,7 @@ pixel_3dpos (std::size_t x, std::size_t y, float depth,
     math::Matrix3f const& invproj);
 
 /**
- * \description * Algorithm to triangulate depth maps.
+ * Algorithm to triangulate depth maps.
  *
  * A factor may be specified that guides depth discontinuity detection. A
  * depth discontinuity between pixels is assumed if depth difference is
@@ -100,41 +100,25 @@ pixel_3dpos (std::size_t x, std::size_t y, float depth,
  * If 'vids' is not null, image content is replaced with vertex indices for
  * each pixel that generated the vertex. Index MATH_MAX_UINT corresponds to
  * a pixel that did not generate a vertex.
- * @param dm -- 深度图
- * @param invproj -- 投影矩阵的逆矩阵
- * @param dd_factor -- 不确定因子
- * @param vids --可视图像
- * @return
  */
 TriangleMesh::Ptr
 depthmap_triangulate (FloatImage::ConstPtr dm, math::Matrix3f const& invproj,
     float dd_factor = 5.0f, core::Image<unsigned int>* vids = nullptr);
 
-
- /**
-  * \description A helper function that triangulates the given depth map with optional
-  * color image (which generates additional per-vertex colors) in local
-  * image coordinates.
-  * @param dm
-  * @param ci
-  * @param invproj
-  * @param dd_factor
-  * @return
-  */
+/**
+ * A helper function that triangulates the given depth map with optional
+ * color image (which generates additional per-vertex colors) in local
+ * image coordinates.
+ */
 TriangleMesh::Ptr
 depthmap_triangulate (FloatImage::ConstPtr dm, ByteImage::ConstPtr ci,
     math::Matrix3f const& invproj, float dd_factor = 5.0f);
 
- /**
-  * \description A helper function that triangulates the given depth map with optional
-  * color image (which generates additional per-vertex colors) and transforms
-  * the mesh into the global coordinate system.
-  * @param dm -- 深度图像
-  * @param ci -- 彩色图像
-  * @param cam -- 相机参数
-  * @param dd_factor -- ??
-  * @return
-  */
+/**
+ * A helper function that triangulates the given depth map with optional
+ * color image (which generates additional per-vertex colors) and transforms
+ * the mesh into the global coordinate system.
+ */
 TriangleMesh::Ptr
 depthmap_triangulate (FloatImage::ConstPtr dm, ByteImage::ConstPtr ci,
     CameraInfo const& cam, float dd_factor = 5.0f);
@@ -176,7 +160,7 @@ CORE_IMAGE_NAMESPACE_BEGIN
 template <typename T>
 inline void
 depthmap_convert_conventions (typename Image<T>::Ptr dm,
-    math::Matrix3f const& invproj, bool to_mve)
+    math::Matrix3f const& invproj, bool to_core)
 {
     std::size_t w = dm->width();
     std::size_t h = dm->height();
@@ -190,7 +174,7 @@ depthmap_convert_conventions (typename Image<T>::Ptr dm,
             // Measure length of viewing ray
             double len = px.norm();
             // Either divide or multiply with the length
-            dm->at(pos) *= (to_mve ? len : 1.0 / len);
+            dm->at(pos) *= (to_core ? len : 1.0 / len);
         }
 }