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added mask for lens distortion in images #968

Merged
merged 11 commits into from
May 4, 2023
Merged

added mask for lens distortion in images #968

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202b556
Added mask to remove black spots in texture
PxGluz Apr 7, 2023
71f8818
removed redundant comments
PxGluz Apr 7, 2023
772874c
fixed pull request comments
PxGluz Apr 8, 2023
90a03b6
restructured code and comments
PxGluz Apr 8, 2023
89e6dde
updated floodfills and if structure in Raster
PxGluz Apr 9, 2023
f19dc34
updated floodfill
PxGluz Apr 9, 2023
83a17f3
removed a comment that i forgot
PxGluz Apr 9, 2023
f52ac21
format file names
PxGluz Apr 12, 2023
8183397
removed redundant line and fixed comment
PxGluz May 4, 2023
865cd7e
fix bugs and finetune SceneTexture
cdcseacave May 4, 2023
e120740
refactor SceneTexture changes
cdcseacave May 4, 2023
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44 changes: 43 additions & 1 deletion libs/MVS/SceneTexture.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -151,6 +151,9 @@ struct MeshTexture {
typedef TRasterMesh<RasterMesh> Base;
FaceMap& faceMap;
FIndex idxFace;
Image8U invalidMask;
bool validFace;

RasterMesh(const Mesh::VertexArr& _vertices, const Camera& _camera, DepthMap& _depthMap, FaceMap& _faceMap)
: Base(_vertices, _camera, _depthMap), faceMap(_faceMap) {}
void Clear() {
Expand All @@ -164,7 +167,7 @@ struct MeshTexture {
Depth& depth = depthMap(pt);
if (depth == 0 || depth > z) {
depth = z;
faceMap(pt) = idxFace;
faceMap(pt) = validFace && (validFace = (invalidMask(pt) == 0)) ? idxFace : NO_ID;
}
}
};
Expand Down Expand Up @@ -394,6 +397,37 @@ struct MeshTexture {
Scene& scene; // the mesh vertices and faces
};

// creating an invalid mask for the given image corresponding to
// the invalid pixels generated during image correction for the lens distortion;
// the returned mask has the same size as the image and is set to non-zero for invalid pixels
static Image8U DetectInvalidImageRegions(const Image8U3& image)
{
const cv::Scalar upDiff(3);
const int flags(8 | (255 << 8));
Image8U invalidMask(image.rows + 2, image.cols + 2);
invalidMask.memset(0);
Image8U imageGray;
cv::cvtColor(image, imageGray, cv::COLOR_BGR2GRAY);
if (imageGray(0, 0) == 0)
cv::floodFill(imageGray, invalidMask, cv::Point(0, 0), 255, NULL, cv::Scalar(0), upDiff, flags);
if (imageGray(image.rows / 2, 0) == 0)
cv::floodFill(imageGray, invalidMask, cv::Point(0, image.rows / 2), 255, NULL, cv::Scalar(0), upDiff, flags);
if (imageGray(image.rows - 1, 0) == 0)
cv::floodFill(imageGray, invalidMask, cv::Point(0, image.rows - 1), 255, NULL, cv::Scalar(0), upDiff, flags);
if (imageGray(image.rows - 1, image.cols / 2) == 0)
cv::floodFill(imageGray, invalidMask, cv::Point(image.cols / 2, image.rows - 1), 255, NULL, cv::Scalar(0), upDiff, flags);
if (imageGray(image.rows - 1, image.cols - 1) == 0)
cv::floodFill(imageGray, invalidMask, cv::Point(image.cols - 1, image.rows - 1), 255, NULL, cv::Scalar(0), upDiff, flags);
if (imageGray(image.rows / 2, image.cols - 1) == 0)
cv::floodFill(imageGray, invalidMask, cv::Point(image.cols - 1, image.rows / 2), 255, NULL, cv::Scalar(0), upDiff, flags);
if (imageGray(0, image.cols - 1) == 0)
cv::floodFill(imageGray, invalidMask, cv::Point(image.cols - 1, 0), 255, NULL, cv::Scalar(0), upDiff, flags);
if (imageGray(0, image.cols / 2) == 0)
cv::floodFill(imageGray, invalidMask, cv::Point(image.cols / 2, 0), 255, NULL, cv::Scalar(0), upDiff, flags);
invalidMask = invalidMask(cv::Rect(1,1, imageGray.cols,imageGray.rows));
return invalidMask;
}

MeshTexture::MeshTexture(Scene& _scene, unsigned _nResolutionLevel, unsigned _nMinResolution)
:
nResolutionLevel(_nResolutionLevel),
Expand Down Expand Up @@ -510,10 +544,18 @@ bool MeshTexture::ListCameraFaces(FaceDataViewArr& facesDatas, float fOutlierThr
depthMap.create(imageData.height, imageData.width);
RasterMesh rasterer(vertices, imageData.camera, depthMap, faceMap);
rasterer.Clear();
rasterer.invalidMask = DetectInvalidImageRegions(imageData.image);
#if TD_VERBOSE != TD_VERBOSE_OFF
if (VERBOSITY_LEVEL > 2)
cv::imwrite(String::FormatString("invalidMask%04d.png", idxView), rasterer.invalidMask);
#endif
for (auto idxFace : cameraFaces) {
rasterer.validFace = true;
const Face& facet = faces[idxFace];
rasterer.idxFace = idxFace;
rasterer.Project(facet);
if (!rasterer.validFace)
rasterer.Project(facet);
}
// compute the projection area of visible faces
#if TEXOPT_FACEOUTLIER != TEXOPT_FACEOUTLIER_NA
Expand Down
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