Add software to filter SfM data and to create landmarks-based masking for depth map computation #1526
Commits on Mar 26, 2024
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- OpenMP loop race problem - inverse if condition
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[prepareDenseScene] fix landmarks-based mask for depth maps
- put masked pixels to 0.5 instead of 0 in order to be taken into consideration for Tc cameras - fix index out of range thrown in case there are no observations for a certain view
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[filterSfM] add option for not using feature scale
when computing pixel size
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- fix reference and constantness problem - fix pre-allocation of vector
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[filterSfM] add new landmark filtering option
filter unstable landmarks that have an insufficient number of observations (specified as a parameter)
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[prepareDenseScene] add 2D observation filtering for depth map mask
If a 2D projected observation in a view doesn't have enough other neighboring observations, it will not be considered for creating the depth map mask
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[prepareDenseScene] improve 2D observation filtering
- estimate the mask radius dynamically for each view based on average distance to neighbors - filter 2D observations based on quantile on distribution of average distance to neighbors
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a point is neighbor to itself if it participated in creating the tree
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[filterSfM] improve landmarks filtering
remove landmarks that don't have enough common observations with their neighbors
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[filterSfM] improve observation selection strategy
- add a re-distribution of observation scores at each iteration by favouring best N observations that will be selected at the end - fix hard-coded parameters
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[filterSfM] multiple improvements
- update parameters and code structure for a clearer understanding of different steps - fix bug with damping renormalization - add comments
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[WIP][filterSfM] multiple improvements and fixes
- resolve duplicate features issue - do not normalize propagated neighbors scores - fix NaN MSE issue - fix radius estimation caused by quantile issue
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[WIP][filterSfM] multiple improvements
- add option to propagate neighbor observations - use Jaccard index in step 2
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[filterSfM] add option to keep propagated observations
at the end of 3D Observations filter
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[WIP][filterSfM] fix option to keep propagated observations
- create a fake observation by projecting the landmark in the view
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