add code for task4

examples/data/sequence_scene/views/view_0000.mve/meta.ini

@@ -0,0 +1,13 @@
+# MVE view meta data is stored in INI-file syntax.
+# This file is generated, formatting will get lost.
+
+[camera]
+focal_length = 0.9473756552
+pixel_aspect = 1
+principal_point = 0.5 0.5
+rotation = 0.9994502068 0.03110907227 -0.01174340863 -0.03091727942 0.9994052649 0.01567152329 0.01222048327 -0.0152981719 0.9998166561
+translation = -0.4283604324 -4.741177559 -0.2027004212
+
+[view]
+id = 0
+name = IMG_0191

examples/data/sequence_scene/views/view_0001.mve/meta.ini

@@ -0,0 +1,13 @@
+# MVE view meta data is stored in INI-file syntax.
+# This file is generated, formatting will get lost.
+
+[camera]
+focal_length = 0.9410468936
+pixel_aspect = 1
+principal_point = 0.5 0.5
+rotation = 0.9998683333 0.01819876768 0.005389723461 -0.0182197392 0.9997825623 0.01108915359 -0.005180442706 -0.01119967923 0.999980092
+translation = -0.294465065 -3.783680677 -0.2274532169
+
+[view]
+id = 1
+name = IMG_0192

examples/data/sequence_scene/views/view_0002.mve/meta.ini

@@ -0,0 +1,13 @@
+# MVE view meta data is stored in INI-file syntax.
+# This file is generated, formatting will get lost.
+
+[camera]
+focal_length = 0.9379664063
+pixel_aspect = 1
+principal_point = 0.5 0.5
+rotation = 0.9995756149 0.02243224718 0.02150227875 -0.02263854444 0.9998210669 0.01017965283 -0.02122986875 -0.01067433413 0.9998109341
+translation = -0.2275907844 -2.825376987 -0.2146285027
+
+[view]
+id = 2
+name = IMG_0193

examples/data/sequence_scene/views/view_0003.mve/meta.ini

@@ -0,0 +1,13 @@
+# MVE view meta data is stored in INI-file syntax.
+# This file is generated, formatting will get lost.
+
+[camera]
+focal_length = 0.9458224177
+pixel_aspect = 1
+principal_point = 0.5 0.5
+rotation = 0.9994176626 0.03548013046 -0.001201740466 -0.03545637801 0.9993379116 0.01468915865 0.00174250314 -0.01464308985 0.999928534
+translation = -0.1737243533 -1.902763128 -0.1149251983
+
+[view]
+id = 3
+name = IMG_0194

examples/data/sequence_scene/views/view_0004.mve/meta.ini

@@ -0,0 +1,13 @@
+# MVE view meta data is stored in INI-file syntax.
+# This file is generated, formatting will get lost.
+
+[camera]
+focal_length = 0.9449751377
+pixel_aspect = 1
+principal_point = 0.5 0.5
+rotation = 0.9997730255 0.02142043039 -0.01128381956 -0.02128465101 0.9998375773 0.0073005124 0.01142006647 -0.007046152838 0.9999713898
+translation = -0.09820909798 -0.9807944894 -0.08508476615
+
+[view]
+id = 4
+name = IMG_0195

examples/data/sequence_scene/views/view_0005.mve/meta.ini

@@ -0,0 +1,13 @@
+# MVE view meta data is stored in INI-file syntax.
+# This file is generated, formatting will get lost.
+
+[camera]
+focal_length = 0.9472414255
+pixel_aspect = 1
+principal_point = 0.5 0.5
+rotation = 0.9997471571 0.02428688668 0.0003824045998 -0.02428821288 0.9997295737 0.006641445681 -0.0002236067812 -0.006649999879 0.9999824166
+translation = -0.01024425402 -0.04427694529 -0.03439082205
+
+[view]
+id = 5
+name = IMG_0196

examples/data/sequence_scene/views/view_0006.mve/meta.ini

@@ -0,0 +1,13 @@
+# MVE view meta data is stored in INI-file syntax.
+# This file is generated, formatting will get lost.
+
+[camera]
+focal_length = 0.9409046173
+pixel_aspect = 1
+principal_point = 0.5 0.5
+rotation = 0.9997140765 0.02499957569 0.00574221136 -0.02498275414 0.9997611046 -0.001673440915 -0.00579532329 0.001529396744 1.000015616
+translation = 0.05166833475 0.8847503662 -0.03480942547
+
+[view]
+id = 6
+name = IMG_0197

examples/task4/CMakeLists.txt

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+project(class5)
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_FLAGS "-fPIC")
+
+include_directories("../..")
+
+set(DMRECON_SINGLE_VIEW_SOURCES
+        task4-1_dmrecon_single_view.cc)
+add_executable(task4-1_dmrecon_single_view ${DMRECON_SINGLE_VIEW_SOURCES})
+target_link_libraries(task4-1_dmrecon_single_view mvs util core)
+
+
+set(DMRECON_MULTIPLE_VIEWs_SOURCES
+        task4-2_dmrecon_multi_views.cc)
+add_executable(task4-2_dmrecon_multi_views ${DMRECON_MULTIPLE_VIEWs_SOURCES})
+target_link_libraries(task4-2_dmrecon_multi_views mvs util core)
+
+
+set(SCENE2PSET_SINGLE_VIEW_SOURCES
+        task4-1_scene2pset_single_view.cc)
+add_executable(task4-1_scene2pset_single_view ${SCENE2PSET_SINGLE_VIEW_SOURCES})
+target_link_libraries(task4-1_scene2pset_single_view mvs util core)
+
+
+set(SCENE2PSET_MULTI_VIEWS_SOURCES
+        task4-2_scene2pset_multi_views.cc)
+add_executable(task4-2_scene2pset_multi_views ${SCENE2PSET_MULTI_VIEWS_SOURCES})
+target_link_libraries(task4-2_scene2pset_multi_views mvs util core)

examples/task4/task4-1_dmrecon_single_view.cc

@@ -0,0 +1 @@
+//// Created by caoqi on 2018/10/08.///* * 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 <iomanip>#include <iostream>#include <cstdlib>#include "mvs/settings.h"#include "mvs/dmrecon.h"#include "core/scene.h"#include "core/view.h"#include "util/timer.h"#include "util/arguments.h"#include "util/system.h"#include "util/tokenizer.h"#include "util/file_system.h"struct AppSettings{    std::string scene_path;    std::string ply_dest = "recon";    int master_id = -1;    std::vector<int> view_ids;    int max_pixels = 1500000;    bool force_recon = false;    bool write_ply = false;    mvs::Settings mvs;};intmain (int argc, char** argv){    if(argc<4){        std::cout<<"usage: scendir scale view_id"<<std::endl;        return -1;    }    AppSettings conf;        // 场景文件夹    conf.scene_path = argv[1];    // 获取图像尺度    std::stringstream stream1(argv[2]);    stream1>>conf.mvs.scale;    // 获取重建视角id    std::stringstream stream2(argv[3]);    stream2>>conf.master_id;        /* Load MVE scene. */    std::cout<<"Loading scene..."<<std::endl;    core::Scene::Ptr scene;    try {        scene = core::Scene::create(conf.scene_path);        scene->get_bundle();    }    catch (std::exception& e) {        std::cerr << "Error loading scene: " << e.what() << std::endl;        return EXIT_FAILURE;    }    /* Settings for Multi-view stereo */    conf.mvs.writePlyFile = conf.write_ply;    conf.mvs.plyPath = util::fs::join_path(conf.scene_path, conf.ply_dest);    //std::cout<<"writing ply file to "<<conf.mvs.plyPath<<std::endl;    util::WallTimer timer;    if (conf.master_id >= 0) {        std::cout << "Reconstructing view ID " << conf.master_id << std::endl;        conf.mvs.refViewNr = (std::size_t)conf.master_id;        try {            // start reconstruction            mvs::DMRecon recon(scene, conf.mvs);            recon.start();        }        catch (std::exception &err)        {            std::cerr << err.what() << std::endl;            return EXIT_FAILURE;        }    }    std::cout << "Reconstruction took "              << timer.get_elapsed() << "ms." << std::endl;    /* Save scene */    std::cout << "Saving views back to disc..." << std::endl;    scene->save_views();    return EXIT_SUCCESS;}

examples/task4/task4-1_scene2pset_single_view.cc

@@ -0,0 +1 @@
+//// Created by caoqi on 2018/10/01.//#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"#include "core/depthmap.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;};/** * \description 给定像素坐标，深度值以及内参矩阵的逆，求对应三维点的坐标 * @param x -- 像素坐标x * @param y -- 像素坐标y * @param depth --深度值即，三维点到相机中心的距离 * @param invproj -- 内参矩阵的逆 * @return 三维点坐标 */math::Vec3fpixel_3dpos (std::size_t x, std::size_t y, float depth,             math::Matrix3f const& invproj) {    // 图像上的每个像素对应三维中的一条射线(向量）    math::Vec3f ray = invproj * math::Vec3f            ((float)x + 0.5f, (float)y + 0.5f, 1.0f);    // 将射线所在的向量进行归一化，并乘以深度值，得到三维点的坐标    return ray.normalized() * depth;}/** * \description 判断深度值是否具有一致性 * @param widths -- 4x1 4个图像像素对应在三维空间中的宽度，可以理解成空间中长度为widths[i1]的物体 *                  投影到图像中i1位置的大小刚好为一个像素 * @param depths -- 深度值 4个图像像素的深度值 * @param dd_factor -- 判断深度一致性的阈值 *                 4个像素构成一个grid, 序号分别为 *                 [0, 1] *                 [2, 3] * @param i1 -- i1 \in [0,3] * @param i2 -- i2 \in [0,3] * @return */bool  dm_is_depthdisc (float* widths, float* depths        , float dd_factor, int i1, int i2) {    /* Find index that corresponds to smaller depth. */    int i_min = i1;    int i_max = i2;    if (depths[i2] < depths[i1])        std::swap(i_min, i_max);    /* Check if indices are a diagonal. */    if (i1 + i2 == 3)        dd_factor *= MATH_SQRT2;    /* Check for depth discontinuity. */    if (depths[i_max] - depths[i_min] > widths[i_min] * dd_factor)        return true;    return false;}/** * \description 计算1个图像像素在三维空间点p处的长度l，可以理解成空间点p处长度为l的物体 *              投影到图像大小刚好为一个像素 * @param x -- 图像像素坐标 * @param y -- 图像像素坐标 * @param depth -- 图像深度值 * @param invproj -- 相机内参矩阵的逆 * @return */floatpixel_footprint (std::size_t x, std::size_t y, float depth,                 math::Matrix3f const& invproj) {    math::Vec3f v = invproj * math::Vec3f            ((float)x + 0.5f, (float)y + 0.5f, 1.0f);    return invproj[0] * depth / v.norm();}/** * \description 创建一个三角面片 * @param mesh -- 需要创建的三维网格 * @param vidx -- 图像像素对应三维顶点索引的映射图 * @param dm   -- 深度图像 * @param invproj -- 相机内参矩阵的逆矩阵 * @param i    -- 像素在图像中的全局索引[0, w*h-1] * @param tverts -- 三角面片的顶点索引，用的是在局部grid中的索引，即[0, 1] *                                                           [2, 3] * */voiddm_make_triangle (core::TriangleMesh* mesh, core::Image<unsigned int>& vidx,                  core::FloatImage const* dm, math::Matrix3f const& invproj,                  std::size_t i, int* tverts) {    int const width = vidx.width();    //int const height = vidx.height();    core::TriangleMesh::VertexList& verts(mesh->get_vertices());    core::TriangleMesh::FaceList& faces(mesh->get_faces());    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;        // 如果当前像素尚没有对应的三维点        if (vidx.at(iidx) == MATH_MAX_UINT) {            /* Add vertex for depth pixel. */            vidx.at(iidx) = verts.size();            float depth = dm->at(iidx, 0);            verts.push_back(pixel_3dpos(x, y, depth, invproj));        }        faces.push_back(vidx.at(iidx));    }}/** * \description 给定深度图，彩色图像以及相机参数，恢复带有颜色和法向量的三维点云 * @param dm -- 深度图像 * @param ci -- 彩色图像 * @param invproj -- 相机逆投影矩阵 * @param dd_factor -- 用于判断深度一致性的阈值 * @return */core::TriangleMesh::Ptrmy_depthmap_triangulate (core::FloatImage::ConstPtr dm, core::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();    // 创建三角网格接结构体    /* Prepare triangle mesh. */    core::TriangleMesh::Ptr mesh(core::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) {            /* 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)            };            /* 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) {                    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                {                    // 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]);                    if (ddiff1 < ddiff2)                    { tri[0] = 2; tri[1] = 3; }                    else                    { tri[0] = 1; tri[1] = 4; }                    break;                }                default: continue;            }            /* Omit depth discontinuity detection if dd_factor is zero. */            if (dd_factor > 0.0f) {                /* Cache pixel footprints. */                float widths[4];                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);                }                // 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) {                    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;                    if (dm_is_depthdisc(DM_DD_ARGS, tv[1], tv[2])) tri[j] = 0;                    if (dm_is_depthdisc(DM_DD_ARGS, tv[2], tv[0])) tri[j] = 0;                }            }            /* Build triangles. */            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]);            }        }    }    // 获取颜色    // 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)){        std::cout<<"Color image dimension mismatch"<<std::endl;        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 = vidx.get_pixel_amount();    for (int i = 0; i < num_pixel; ++i) {        // 像素没有对应的顶点        if (vidx[i] == MATH_MAX_UINT)            continue;        math::Vec4f color(ci->at(i, 0), 0.0f, 0.0f, 255.0f);        if (ci->channels() >= 3) {            color[1] = ci->at(i, 1);            color[2] = ci->at(i, 2);        }        else {            color[1] = color[2] = color[0];        }        colors[vidx[i]] = color / 255.0f;    }    return mesh;}int main(int argc, char *argv[]){    if(argc<5){        std::cout<<"usage: scendir outmeshdir(.ply) scale view_id"<<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 stream1(argv[3]);    stream1>>conf.scale;    // 获取要重建的视角    std::stringstream stream2(argv[4]);    stream2>>conf.view_id;    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;    /* Load scene. */    core::Scene::Ptr scene = core::Scene::create(conf.scenedir);    /* Iterate over views and get points. */    core::Scene::ViewList& views(scene->get_views());    core::View::Ptr view = views[conf.view_id];    assert(view!= nullptr);    // 获取存在相机参数    core::CameraInfo const& cam = view->get_camera();    assert(cam.flen);    // 加载深度图    core::FloatImage::Ptr dm = view->get_float_image(conf.dmname);    assert(dm != nullptr);    // 加载彩色图像    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;    // 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    mesh = my_depthmap_triangulate(dm, ci, invproj, conf.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);    if (conf.with_normals)       mesh->ensure_normals();    dm.reset();    ci.reset();    view->cache_cleanup();    /***************************************************************/    /* Write mesh to disc. */    std::cout << "Writing final point set (" << mesh->get_vertices().size() << " points)..." << std::endl;    assert(util::string::right(conf.outmesh, 4) == ".ply");    {        core::geom::SavePLYOptions opts;        opts.write_vertex_normals = conf.with_normals;        core::geom::save_ply_mesh(mesh, conf.outmesh, opts);    }    return EXIT_SUCCESS;}