kopia lustrzana https://github.com/OpenDroneMap/ODM
Gerald Mwangi
rodzic
caaeb41184
commit
134e9ae310
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@ -4,7 +4,8 @@ include/
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lib/
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logs/
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src/
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odm_texturing-build/
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*.user
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cmvs.tar.gz
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parallel.tar.bz2
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pcl.tar.gz
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@ -1,203 +0,0 @@
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@ -397,6 +397,11 @@ void OdmTexturing::triangleToImageAssignment()
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// Vector containing information if the face has been given an optimal camera or not
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std::vector<bool> hasOptimalCamera = std::vector<bool>(mesh_->tex_polygons[0].size());
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//Vector containing minimal distances to optimal camera
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std::vector<double> tTIA_distances(mesh_->tex_polygons[0].size(),DBL_MAX);
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//Vector containing minimal angles of face to cameraplane normals
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std::vector<double> tTIA_angles(mesh_->tex_polygons[0].size(),DBL_MAX);
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// Set default value that no face has an optimal camera
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for (size_t faceIndex = 0; faceIndex < hasOptimalCamera.size(); ++faceIndex)
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{
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@ -419,7 +424,7 @@ void OdmTexturing::triangleToImageAssignment()
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{
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// Move vertices in mesh into the camera coordinate system
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pcl::PointCloud<pcl::PointXYZ>::Ptr cameraCloud (new pcl::PointCloud<pcl::PointXYZ>);
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pcl::transformPointCloud (*meshCloud, *cameraCloud, cameras_[cameraIndex].pose.inverse());
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pcl::transformPointCloud (*meshCloud, *cameraCloud, cameras_[cameraIndex].pose);
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// Cloud to contain points projected into current camera
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pcl::PointCloud<pcl::PointXY>::Ptr projections (new pcl::PointCloud<pcl::PointXY>);
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@ -484,7 +489,8 @@ void OdmTexturing::triangleToImageAssignment()
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}
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std::vector<double> local_tTIA_distances(mesh_->tex_polygons[0].size(),DBL_MAX);
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std::vector<double> local_tTIA_angles(mesh_->tex_polygons[0].size(),DBL_MAX);
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// If any faces are visible in the current camera perform occlusion culling
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if (countInsideFrustum > 0)
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{
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@ -518,16 +524,46 @@ void OdmTexturing::triangleToImageAssignment()
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// Perform radius search in the acceleration structure
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int radiusSearch = kdTree.radiusSearch(center, radius, neighbors, neighborsSquaredDistance);
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// Extract distances for all vertices for face to camera
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double d0 = cameraCloud->points[mesh_->tex_polygons[0][faceIndex].vertices[0]].z;
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double d1 = cameraCloud->points[mesh_->tex_polygons[0][faceIndex].vertices[1]].z;
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double d2 = cameraCloud->points[mesh_->tex_polygons[0][faceIndex].vertices[2]].z;
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// Calculate largest distance and store in distance variable
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double distance = std::max(d0, std::max(d1,d2));
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//Get points
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pcl::PointXYZ p0=cameraCloud->points[mesh_->tex_polygons[0][faceIndex].vertices[0]];
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pcl::PointXYZ p1=cameraCloud->points[mesh_->tex_polygons[0][faceIndex].vertices[1]];
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pcl::PointXYZ p2=cameraCloud->points[mesh_->tex_polygons[0][faceIndex].vertices[2]];
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//Calculate face normal
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pcl::PointXYZ diff0;
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pcl::PointXYZ diff1;
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diff0.x=p1.x-p0.x;
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diff0.y=p1.y-p0.y;
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diff0.z=p1.z-p0.z;
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diff1.x=p2.x-p0.x;
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diff1.y=p2.y-p0.y;
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diff1.z=p2.z-p0.z;
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pcl::PointXYZ normal;
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normal.x=diff0.y*diff1.z-diff0.z*diff1.y;
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normal.y=-(diff0.x*diff1.z-diff0.z*diff1.x);
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normal.z=diff0.x*diff1.y-diff0.y*diff1.x;
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double norm=sqrt(normal.x*normal.x+normal.y*normal.y+normal.z*normal.z);
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//Angle of face to camera
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double cos=normal.z/norm;
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//Save distance of faceIndex to current camera
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local_tTIA_distances[faceIndex]=distance;
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//Save angle of faceIndex to current camera
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if(normal.z>=0)
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local_tTIA_angles[faceIndex]=sqrt(1.0-cos*cos);
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// If other projections are found inside the radius
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if (radiusSearch > 0)
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{
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// Extract distances for all vertices for face to camera
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double d0 = cameraCloud->points[mesh_->tex_polygons[0][faceIndex].vertices[0]].z;
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double d1 = cameraCloud->points[mesh_->tex_polygons[0][faceIndex].vertices[1]].z;
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double d2 = cameraCloud->points[mesh_->tex_polygons[0][faceIndex].vertices[2]].z;
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// Calculate largest distance and store in distance variable
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||||
double distance = std::max(d0, std::max(d1,d2));
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// Compare distance to all neighbors inside radius
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for (size_t i = 0; i < neighbors.size(); ++i)
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||||
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@ -559,9 +595,14 @@ void OdmTexturing::triangleToImageAssignment()
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{
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if (visibility[faceIndex])
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||||
{
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||||
hasOptimalCamera[faceIndex] = true;
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tTIA_[faceIndex] = cameraIndex;
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++count;
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if(local_tTIA_distances[faceIndex]<tTIA_distances[faceIndex]&&local_tTIA_angles[faceIndex]<tTIA_angles[faceIndex])
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||||
{
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tTIA_angles[faceIndex]=local_tTIA_angles[faceIndex];
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tTIA_distances[faceIndex]=local_tTIA_distances[faceIndex];
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hasOptimalCamera[faceIndex] = true;
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tTIA_[faceIndex] = cameraIndex;
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++count;
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}
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}
|
||||
}
|
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|
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|
|
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Ładowanie…
Reference in New Issue