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dense: estimate normal-map from depth-map during fusion if requested
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@cdcseacave
cdcseacave committed Nov 22, 2023
1 parent ac43899 commit bc67cf9
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Showing 3 changed files with 65 additions and 25 deletions.
4 changes: 3 additions & 1 deletion apps/ReconstructMesh/ReconstructMesh.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -350,7 +350,9 @@ int main(int argc, LPCTSTR* argv)
OPT::fSplitMaxArea > 0 || OPT::fDecimateMesh < 1 || OPT::nTargetFaceNum > 0 || !OPT::strImportROIFileName.empty()));
if (sceneType == Scene::SCENE_NA)
return EXIT_FAILURE;
if (!OPT::strPointCloudFileName.empty() && !scene.pointcloud.Load(MAKE_PATH_SAFE(OPT::strPointCloudFileName))) {
if (!OPT::strPointCloudFileName.empty() && (File::isFile(MAKE_PATH_SAFE(OPT::strPointCloudFileName)) ?
!scene.pointcloud.Load(MAKE_PATH_SAFE(OPT::strPointCloudFileName)) :
!scene.pointcloud.IsValid())) {
VERBOSE("error: cannot load point-cloud file");
return EXIT_FAILURE;
}
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83 changes: 61 additions & 22 deletions libs/MVS/SceneDensify.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1389,33 +1389,72 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
typedef SEACAVE::cList<ProjArr,const ProjArr&,1,65536> ProjsArr;

// find best connected images
IndexScoreArr connections(0, scene.images.GetSize());
IndexScoreArr connections(scene.images.size());
size_t nPointsEstimate(0);
bool bNormalMap(true);
FOREACH(i, scene.images) {
DepthData& depthData = arrDepthData[i];
#ifdef DENSE_USE_OPENMP
bool bAbort(false);
#pragma omp parallel for shared(connections, nPointsEstimate, bNormalMap, bAbort)
for (int64_t i=0; i<(int64_t)scene.images.size(); ++i) {
#pragma omp flush (bAbort)
if (bAbort)
continue;
const IIndex idxImage((IIndex)i);
#else
FOREACH(idxImage, scene.images) {
#endif
DepthData& depthData = arrDepthData[idxImage];
if (!depthData.IsValid())
continue;
if (depthData.IncRef(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap")) == 0)
const String fileName(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"));
if (depthData.IncRef(fileName) == 0) {
#ifdef DENSE_USE_OPENMP
bAbort = true;
#pragma omp flush (bAbort)
continue;
#else
return;
#endif
}
ASSERT(!depthData.IsEmpty());
IndexScore& connection = connections.AddEmpty();
connection.idx = i;
connection.score = (float)scene.images[i].neighbors.GetSize();
IndexScore& connection = connections[idxImage];
connection.idx = idxImage;
connection.score = (float)scene.images[idxImage].neighbors.size();
if (bEstimateNormal && depthData.normalMap.empty()) {
EstimateNormalMap(depthData.images.front().camera.K, depthData.depthMap, depthData.normalMap);
if (!depthData.Save(fileName)) {
#ifdef DENSE_USE_OPENMP
bAbort = true;
#pragma omp flush (bAbort)
continue;
#else
return;
#endif
}
}
#ifdef DENSE_USE_OPENMP
#pragma omp critical
#endif
{
nPointsEstimate += ROUND2INT(depthData.depthMap.area()*(0.5f/*valid*/*0.3f/*new*/));
if (depthData.normalMap.empty())
bNormalMap = false;
}
}
#ifdef DENSE_USE_OPENMP
if (bAbort)
return;
#endif
connections.Sort();

// fuse all depth-maps, processing the best connected images first
const unsigned nMinViewsFuse(MINF(OPTDENSE::nMinViewsFuse, scene.images.GetSize()));
const unsigned nMinViewsFuse(MINF(OPTDENSE::nMinViewsFuse, scene.images.size()));
const float normalError(COS(FD2R(OPTDENSE::fNormalDiffThreshold)));
CLISTDEF0(Depth*) invalidDepths(0, 32);
size_t nDepths(0);
typedef TImage<cuint32_t> DepthIndex;
typedef cList<DepthIndex> DepthIndexArr;
DepthIndexArr arrDepthIdx(scene.images.GetSize());
DepthIndexArr arrDepthIdx(scene.images.size());
ProjsArr projs(0, nPointsEstimate);
if (bEstimateNormal && !bNormalMap)
bEstimateNormal = false;
Expand All @@ -1426,13 +1465,13 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
pointcloud.colors.Reserve(nPointsEstimate);
if (bEstimateNormal)
pointcloud.normals.Reserve(nPointsEstimate);
Util::Progress progress(_T("Fused depth-maps"), connections.GetSize());
Util::Progress progress(_T("Fused depth-maps"), connections.size());
GET_LOGCONSOLE().Pause();
FOREACHPTR(pConnection, connections) {
for (const IndexScore& connection: connections) {
TD_TIMER_STARTD();
const uint32_t idxImage(pConnection->idx);
const uint32_t idxImage(connection.idx);
const DepthData& depthData(arrDepthData[idxImage]);
ASSERT(!depthData.images.IsEmpty() && !depthData.neighbors.IsEmpty());
ASSERT(!depthData.images.empty() && !depthData.neighbors.empty());
for (const ViewScore& neighbor: depthData.neighbors) {
DepthIndex& depthIdxs = arrDepthIdx[neighbor.ID];
if (!depthIdxs.empty())
Expand All @@ -1445,14 +1484,14 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
}
ASSERT(!depthData.IsEmpty());
const Image8U::Size sizeMap(depthData.depthMap.size());
const Image& imageData = *depthData.images.First().pImageData;
ASSERT(&imageData-scene.images.Begin() == idxImage);
const Image& imageData = *depthData.images.front().pImageData;
ASSERT(&imageData-scene.images.data() == idxImage);
DepthIndex& depthIdxs = arrDepthIdx[idxImage];
if (depthIdxs.empty()) {
depthIdxs.create(Image8U::Size(imageData.width, imageData.height));
depthIdxs.memset((uint8_t)NO_ID);
}
const size_t nNumPointsPrev(pointcloud.points.GetSize());
const size_t nNumPointsPrev(pointcloud.points.size());
for (int i=0; i<sizeMap.height; ++i) {
for (int j=0; j<sizeMap.width; ++j) {
const ImageRef x(j,i);
Expand All @@ -1465,14 +1504,14 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
if (idxPoint != NO_ID)
continue;
// create the corresponding 3D point
idxPoint = (uint32_t)pointcloud.points.GetSize();
PointCloud::Point& point = pointcloud.points.AddEmpty();
idxPoint = (uint32_t)pointcloud.points.size();
PointCloud::Point& point = pointcloud.points.emplace_back();
point = imageData.camera.TransformPointI2W(Point3(Point2f(x),depth));
PointCloud::ViewArr& views = pointcloud.pointViews.AddEmpty();
PointCloud::ViewArr& views = pointcloud.pointViews.emplace_back();
views.Insert(idxImage);
PointCloud::WeightArr& weights = pointcloud.pointWeights.AddEmpty();
PointCloud::WeightArr& weights = pointcloud.pointWeights.emplace_back();
REAL confidence(weights.emplace_back(Conf2Weight(depthData.confMap.empty() ? 1.f : depthData.confMap(x),depth)));
ProjArr& pointProjs = projs.AddEmpty();
ProjArr& pointProjs = projs.emplace_back();
pointProjs.Insert(Proj(x));
const PointCloud::Normal normal(bNormalMap ? Cast<Normal::Type>(imageData.camera.R.t()*Cast<REAL>(depthData.normalMap(x))) : Normal(0,0,-1));
ASSERT(ISEQUAL(norm(normal), 1.f));
Expand Down Expand Up @@ -1555,7 +1594,7 @@ void DepthMapsData::FuseDepthMaps(PointCloud& pointcloud, bool bEstimateColor, b
}
ASSERT(pointcloud.points.size() == pointcloud.pointViews.size() && pointcloud.points.size() == pointcloud.pointWeights.size() && pointcloud.points.size() == projs.size());
DEBUG_ULTIMATE("Depths map for reference image %3u fused using %u depths maps: %u new points (%s)", idxImage, depthData.images.size()-1, pointcloud.points.size()-nNumPointsPrev, TD_TIMER_GET_FMT().c_str());
progress.display(pConnection-connections.data());
progress.display(&connection-connections.data());
}
GET_LOGCONSOLE().Play();
progress.close();
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3 changes: 1 addition & 2 deletions vcpkg.json
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Original file line number Diff line number Diff line change
Expand Up @@ -24,8 +24,7 @@
"openexr"
]
},
"opencv",
"opengl",
"opengl",
"tiff",
"vcglib",
"zlib"
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