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99 +2 6 9326 0 5 7601 0 +-0.685255 1.47821 7.43816 +101 109 98 +2 6 9328 0 5 7864 0 +-0.685255 1.47821 7.43816 +101 109 98 +2 6 9329 0 5 7863 0 +-2.39005 -0.0346865 6.10985 +116 112 98 +2 6 9347 0 5 8090 0 +0.430014 1.37798 7.73182 +192 153 134 +2 6 9364 0 5 7213 0 +3.34557 -2.56514 7.6084 +147 141 139 +2 6 9387 0 5 7927 0 +-2.22691 -1.52899 6.12154 +181 140 125 +2 6 9394 0 5 7387 0 +0.388759 0.326072 7.34568 +107 112 100 +2 6 9395 0 5 7003 0 +-0.307535 -1.15984 6.78272 +102 106 97 +2 6 9400 0 5 8300 0 +2.91111 -0.0968568 6.62826 +82 77 80 +2 6 9407 0 5 7771 0 +-2.69183 -1.2933 5.76255 +170 128 117 +2 6 9409 0 5 7562 0 +-2.49487 0.941788 5.68586 +144 129 120 +2 6 9445 0 5 8101 0 +-0.0370254 1.56015 7.6274 +141 126 116 +2 6 9456 0 5 7706 0 diff --git a/examples/data/sequence_scene/views/view_0000.mve/exif.blob b/examples/data/sequence_scene/views/view_0000.mve/exif.blob new file mode 100644 index 00000000..eb9b9c33 Binary files /dev/null and b/examples/data/sequence_scene/views/view_0000.mve/exif.blob differ diff --git a/examples/data/sequence_scene/views/view_0000.mve/meta.ini b/examples/data/sequence_scene/views/view_0000.mve/meta.ini new file mode 100644 index 00000000..1e6f0dca --- /dev/null +++ b/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 diff --git a/examples/data/sequence_scene/views/view_0000.mve/original.png b/examples/data/sequence_scene/views/view_0000.mve/original.png new file mode 100644 index 00000000..954995d7 Binary files /dev/null and b/examples/data/sequence_scene/views/view_0000.mve/original.png differ diff --git a/examples/data/sequence_scene/views/view_0000.mve/undistorted.png b/examples/data/sequence_scene/views/view_0000.mve/undistorted.png new file mode 100644 index 00000000..03352cc2 Binary files /dev/null and b/examples/data/sequence_scene/views/view_0000.mve/undistorted.png differ diff --git a/examples/data/sequence_scene/views/view_0001.mve/exif.blob b/examples/data/sequence_scene/views/view_0001.mve/exif.blob new file mode 100644 index 00000000..659b78f3 Binary files /dev/null and b/examples/data/sequence_scene/views/view_0001.mve/exif.blob differ diff --git a/examples/data/sequence_scene/views/view_0001.mve/meta.ini b/examples/data/sequence_scene/views/view_0001.mve/meta.ini new file mode 100644 index 00000000..32ff54bb --- /dev/null +++ b/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 diff --git a/examples/data/sequence_scene/views/view_0001.mve/original.png b/examples/data/sequence_scene/views/view_0001.mve/original.png new file mode 100644 index 00000000..f2976649 Binary files /dev/null and b/examples/data/sequence_scene/views/view_0001.mve/original.png differ diff --git a/examples/data/sequence_scene/views/view_0001.mve/undistorted.png b/examples/data/sequence_scene/views/view_0001.mve/undistorted.png new file mode 100644 index 00000000..841491ae Binary files /dev/null and b/examples/data/sequence_scene/views/view_0001.mve/undistorted.png differ diff --git a/examples/data/sequence_scene/views/view_0002.mve/depth-L2.mvei b/examples/data/sequence_scene/views/view_0002.mve/depth-L2.mvei new file mode 100644 index 00000000..5392f166 Binary files /dev/null and b/examples/data/sequence_scene/views/view_0002.mve/depth-L2.mvei differ diff --git a/examples/data/sequence_scene/views/view_0002.mve/exif.blob b/examples/data/sequence_scene/views/view_0002.mve/exif.blob new file mode 100644 index 00000000..b68a4839 Binary files /dev/null and b/examples/data/sequence_scene/views/view_0002.mve/exif.blob differ diff --git a/examples/data/sequence_scene/views/view_0002.mve/meta.ini b/examples/data/sequence_scene/views/view_0002.mve/meta.ini new file mode 100644 index 00000000..1fe142af --- /dev/null +++ b/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 diff --git a/examples/data/sequence_scene/views/view_0002.mve/original.png b/examples/data/sequence_scene/views/view_0002.mve/original.png new file mode 100644 index 00000000..4ae2473f Binary files /dev/null and b/examples/data/sequence_scene/views/view_0002.mve/original.png differ diff --git a/examples/data/sequence_scene/views/view_0002.mve/undist-L2.png b/examples/data/sequence_scene/views/view_0002.mve/undist-L2.png new file mode 100644 index 00000000..1ef5e049 Binary files /dev/null and b/examples/data/sequence_scene/views/view_0002.mve/undist-L2.png differ diff --git a/examples/data/sequence_scene/views/view_0002.mve/undistorted.png b/examples/data/sequence_scene/views/view_0002.mve/undistorted.png new file mode 100644 index 00000000..5ed16ffe Binary files /dev/null and b/examples/data/sequence_scene/views/view_0002.mve/undistorted.png differ diff --git a/examples/data/sequence_scene/views/view_0003.mve/exif.blob b/examples/data/sequence_scene/views/view_0003.mve/exif.blob new file mode 100644 index 00000000..dc674e7f Binary files /dev/null and b/examples/data/sequence_scene/views/view_0003.mve/exif.blob differ diff --git a/examples/data/sequence_scene/views/view_0003.mve/meta.ini b/examples/data/sequence_scene/views/view_0003.mve/meta.ini new file mode 100644 index 00000000..964e3cdb --- /dev/null +++ b/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 diff --git a/examples/data/sequence_scene/views/view_0003.mve/original.png b/examples/data/sequence_scene/views/view_0003.mve/original.png new file mode 100644 index 00000000..7233f5b8 Binary files /dev/null and b/examples/data/sequence_scene/views/view_0003.mve/original.png differ diff --git a/examples/data/sequence_scene/views/view_0003.mve/undistorted.png b/examples/data/sequence_scene/views/view_0003.mve/undistorted.png new file mode 100644 index 00000000..8d6b7e37 Binary files /dev/null and b/examples/data/sequence_scene/views/view_0003.mve/undistorted.png differ diff --git a/examples/data/sequence_scene/views/view_0004.mve/exif.blob b/examples/data/sequence_scene/views/view_0004.mve/exif.blob new file mode 100644 index 00000000..5ed9d015 Binary files /dev/null and b/examples/data/sequence_scene/views/view_0004.mve/exif.blob differ diff --git a/examples/data/sequence_scene/views/view_0004.mve/meta.ini b/examples/data/sequence_scene/views/view_0004.mve/meta.ini new file mode 100644 index 00000000..20b82728 --- /dev/null +++ b/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 diff --git a/examples/data/sequence_scene/views/view_0004.mve/original.png b/examples/data/sequence_scene/views/view_0004.mve/original.png new file mode 100644 index 00000000..0db7ecb0 Binary files /dev/null and b/examples/data/sequence_scene/views/view_0004.mve/original.png differ diff --git a/examples/data/sequence_scene/views/view_0004.mve/undistorted.png b/examples/data/sequence_scene/views/view_0004.mve/undistorted.png new file mode 100644 index 00000000..b2257fbc Binary files /dev/null and b/examples/data/sequence_scene/views/view_0004.mve/undistorted.png differ diff --git a/examples/data/sequence_scene/views/view_0005.mve/exif.blob b/examples/data/sequence_scene/views/view_0005.mve/exif.blob new file mode 100644 index 00000000..d8b85575 Binary files /dev/null and b/examples/data/sequence_scene/views/view_0005.mve/exif.blob differ diff --git a/examples/data/sequence_scene/views/view_0005.mve/meta.ini b/examples/data/sequence_scene/views/view_0005.mve/meta.ini new file mode 100644 index 00000000..2b9f77ab --- /dev/null +++ b/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 diff --git a/examples/data/sequence_scene/views/view_0005.mve/original.png b/examples/data/sequence_scene/views/view_0005.mve/original.png new file mode 100644 index 00000000..c3e458ec Binary files /dev/null and b/examples/data/sequence_scene/views/view_0005.mve/original.png differ diff --git a/examples/data/sequence_scene/views/view_0005.mve/undistorted.png b/examples/data/sequence_scene/views/view_0005.mve/undistorted.png new file mode 100644 index 00000000..160ff2bf Binary files /dev/null and b/examples/data/sequence_scene/views/view_0005.mve/undistorted.png differ diff --git a/examples/data/sequence_scene/views/view_0006.mve/exif.blob b/examples/data/sequence_scene/views/view_0006.mve/exif.blob new file mode 100644 index 00000000..1821174a Binary files /dev/null and b/examples/data/sequence_scene/views/view_0006.mve/exif.blob differ diff --git a/examples/data/sequence_scene/views/view_0006.mve/meta.ini b/examples/data/sequence_scene/views/view_0006.mve/meta.ini new file mode 100644 index 00000000..2ecedfb9 --- /dev/null +++ b/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 diff --git a/examples/data/sequence_scene/views/view_0006.mve/original.png b/examples/data/sequence_scene/views/view_0006.mve/original.png new file mode 100644 index 00000000..d19fba93 Binary files /dev/null and b/examples/data/sequence_scene/views/view_0006.mve/original.png differ diff --git a/examples/data/sequence_scene/views/view_0006.mve/undistorted.png b/examples/data/sequence_scene/views/view_0006.mve/undistorted.png new file mode 100644 index 00000000..e30a25cb Binary files /dev/null and b/examples/data/sequence_scene/views/view_0006.mve/undistorted.png differ diff --git a/examples/task4/CMakeLists.txt b/examples/task4/CMakeLists.txt new file mode 100644 index 00000000..1fcb6502 --- /dev/null +++ b/examples/task4/CMakeLists.txt @@ -0,0 +1,28 @@ +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) \ No newline at end of file diff --git a/examples/task4/task4-1_dmrecon_single_view.cc b/examples/task4/task4-1_dmrecon_single_view.cc new file mode 100644 index 00000000..ade4ba0c --- /dev/null +++ b/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 #include #include #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 view_ids; int max_pixels = 1500000; bool force_recon = false; bool write_ply = false; mvs::Settings mvs; }; int main (int argc, char** argv) { if(argc<4){ std::cout<<"usage: scendir scale view_id"<>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..."<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 "<= 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; } \ No newline at end of file diff --git a/examples/task4/task4-1_scene2pset_single_view.cc b/examples/task4/task4-1_scene2pset_single_view.cc new file mode 100644 index 00000000..af42ef75 --- /dev/null +++ b/examples/task4/task4-1_scene2pset_single_view.cc @@ -0,0 +1 @@ +// // Created by caoqi on 2018/10/01. // #include #include #include #include #include #include #include #include #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 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::Vec3f pixel_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 */ float pixel_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] * */ void dm_make_triangle (core::TriangleMesh* mesh, core::Image& 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::Ptr my_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 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"<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"<>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; } \ No newline at end of file diff --git a/examples/task4/task4-2_dmrecon_multi_views.cc b/examples/task4/task4-2_dmrecon_multi_views.cc new file mode 100644 index 00000000..aceaf508 --- /dev/null +++ b/examples/task4/task4-2_dmrecon_multi_views.cc @@ -0,0 +1,125 @@ +/* + * 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 +#include +#include + +#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 view_ids; + int max_pixels = 1500000; + bool force_recon = false; + bool write_ply = false; + mvs::Settings mvs; +}; + + + +int +main (int argc, char** argv) +{ + if(argc<3){ + std::cout<<"usage: scendir scale"<>conf.mvs.scale; + + /* Load MVE scene. */ + 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); + + core::Scene::ViewList& views(scene->get_views()); + if (conf.view_ids.empty()) + { + std::cout << "Reconstructing all views..." << std::endl; + for(std::size_t i = 0; i < views.size(); ++i) + conf.view_ids.push_back(i); + } + else + { + std::cout << "Reconstructing views from list..." << std::endl; + } + + // 对于每一个视角单独进行重建 + util::WallTimer timer; + for (std::size_t i = 0; i < conf.view_ids.size(); ++i) + { + std::size_t id = conf.view_ids[i]; + if (id >= views.size()) + { + std::cout << "Invalid ID " << id << ", skipping!" << std::endl; + continue; + } + + if (views[id] == nullptr || !views[id]->is_camera_valid()) + continue; + + /* Setup MVS. */ + mvs::Settings settings(conf.mvs); + settings.refViewNr = id; + + std::string embedding_name = "depth-L" + util::string::get(settings.scale); + if (!conf.force_recon && views[id]->has_image(embedding_name)) + continue; + + try { + // 重建场景 + mvs::DMRecon recon(scene, settings); + recon.start(); + views[id]->save_view(); + } + catch (std::exception &err) + { + std::cerr << err.what() << std::endl; + } + } + + + 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; +} diff --git a/examples/task4/task4-2_scene2pset_multi_views.cc b/examples/task4/task4-2_scene2pset_multi_views.cc new file mode 100644 index 00000000..77ff5665 --- /dev/null +++ b/examples/task4/task4-2_scene2pset_multi_views.cc @@ -0,0 +1,183 @@ +/* + * 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 +#include +#include +#include +#include +#include +#include +#include + +#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 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"<>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& mverts(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 mvscale; + if (conf.with_scale) { + mvscale.resize(mverts.size(), 0.0f); + core::VertexInfoList::Ptr vinfo = core::VertexInfoList::create(mesh); + for (std::size_t j = 0; j < vinfo->size(); ++j) + { + core::MeshVertexInfo const& vinf = vinfo->at(j); + for (std::size_t k = 0; k < vinf.verts.size(); ++k) + mvscale[j] += (mverts[j] - mverts[vinf.verts[k]]).norm(); + mvscale[j] /= static_cast(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(), mverts.begin(), mverts.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(conf.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; +}