Point3m Arc3DModel::TraCorrection(CMeshO &m, int subsampleFactor, int minCount, int smoothSteps)
{
FloatImage depthImgf;
CharImage countImgc;
depthImgf.Open(depthName.toUtf8().data());
countImgc.Open(countName.toUtf8().data());
QImage TextureImg;
TextureImg.load(textureName);
CombineHandMadeMaskAndCount(countImgc,maskName); // set count to zero for all masked points
FloatImage depthSubf; // the subsampled depth image
FloatImage countSubf; // the subsampled quality image (quality == count)
SmartSubSample(subsampleFactor,depthImgf,countImgc,depthSubf,countSubf,minCount);
CharImage FeatureMask; // the subsampled image with (quality == features)
GenerateGradientSmoothingMask(subsampleFactor, TextureImg, FeatureMask);
depthSubf.convertToQImage().save("tmp_depth.jpg", "jpg");
float depthThr = ComputeDepthJumpThr(depthSubf,0.8f);
for(int ii=0;ii<smoothSteps;++ii)
Laplacian2(depthSubf,countSubf,minCount,FeatureMask,depthThr);
vcg::tri::Grid<CMeshO>(m,depthSubf.w,depthSubf.h,depthImgf.w,depthImgf.h,&*depthSubf.v.begin());
// The depth is filtered and the minimum count mask is update accordingly.
// To be more specific the border of the depth map are identified by erosion
// and the relative vertex removed (by setting mincount equal to 0).
ComputeDepthJumpThr(depthSubf,0.95f);
int vn = m.vn;
for(int i=0;i<vn;++i)
if(countSubf.v[i]<minCount)
{
m.vert[i].SetD();
m.vn--;
}
cam.Open(cameraName.toUtf8().data());
CMeshO::VertexIterator vi;
Matrix33d Rinv= Inverse(cam.R);
Point3m correction(0.0,0.0,0.0);
int numSamp=0;
for(vi=m.vert.begin();vi!=m.vert.end();++vi)if(!(*vi).IsD())
{
Point3m in=(*vi).P();
Point3d out;
correction+=cam.DepthTo3DPoint(in[0], in[1], in[2], out);
numSamp++;
}
if (numSamp!=0)
correction/=(double)numSamp;
return correction;
}
/*
Main function that populate the dialog, loading all the images and eventually creating the thumbs.
called directly by the open before invoking this dialog.
*/
void v3dImportDialog::setArc3DReconstruction(Arc3DReconstruction *_er)
{
// if the epoch reconstruction has not changed do nothing
if(erCreated == _er->created)
{
er=_er;
return;
}
er=_er;
erCreated=er->created;
ui.infoLabel->setText(er->name + " - " + er->author + " - " + er->created);
ui.imageTableWidget->clear();
ui.imageTableWidget->setRowCount(er->modelList.size());
ui.imageTableWidget->setColumnCount(4);
//imageTableWidget->setColumnWidth (1,64);
ui.imageTableWidget->setSelectionBehavior (QAbstractItemView::SelectRows);
ui.imageTableWidget->setEditTriggers(QAbstractItemView::NoEditTriggers);
ui.imageTableWidget->setMinimumWidth(64*8);
ui.rangeLabel->setPixmap(generateColorRamp());
ui.rangeLabel->setMaximumHeight(10);
ui.rangeLabel->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Ignored);
ui.rangeLabel->setScaledContents(true);
ui.minCountSlider->setMaximumHeight(12);
int i;
for(i=0; i<er->modelList.size() ;++i)
{
QString ThumbImgName=Arc3DModel::ThumbName(er->modelList[i].textureName);
QString ThumbCntName=Arc3DModel::ThumbName(er->modelList[i].countName);
ui.imageTableWidget->setRowHeight (i,64);
QTableWidgetItem *emptyHeaderItem = new QTableWidgetItem(i*2);
QTableWidgetItem *texNameHeaderItem = new QTableWidgetItem(er->modelList[i].textureName,i);
ui.imageTableWidget->setItem(i, 0, texNameHeaderItem);
ui.imageTableWidget->setItem(i, 1, emptyHeaderItem);
QLabel *imageLabel = new QLabel(ui.imageTableWidget);
if(!QFile::exists(ThumbImgName))
{
QPixmap(er->modelList[i].textureName).scaledToHeight(64).save(ThumbImgName,"jpg");
if(!QFile::exists(ThumbImgName))
QMessageBox::warning(this,"Error in Thumb creation",
QString("Unable to create '%1' from '%2'").arg(ThumbImgName),er->modelList[i].textureName);
}
imageLabel->setPixmap(QPixmap(Arc3DModel::ThumbName(er->modelList[i].textureName)));
ui.imageTableWidget->setCellWidget(i,1,imageLabel);
if(QFile::exists(er->modelList[i].maskName))
{
QTableWidgetItem *emptyHeaderItem = new QTableWidgetItem(i*4);
ui.imageTableWidget->setItem(i, 2, emptyHeaderItem);
QLabel *maskLabel = new QLabel(ui.imageTableWidget);
maskLabel->setPixmap(QPixmap(er->modelList[i].maskName).scaledToHeight(64));
ui.imageTableWidget->setCellWidget(i,2,maskLabel);
}
else
{
QTableWidgetItem *maskHeaderItem = new QTableWidgetItem(QString("double click for\nediting the mask"),i*3);
ui.imageTableWidget->setItem(i, 2, maskHeaderItem);
}
if(!QFile::exists(ThumbCntName))
{
CharImage chi;
bool ret=chi.Open(er->modelList[i].countName.toUtf8().data());
if(!ret) QMessageBox::warning(this,"Error in Thumb creation",QString("Unable to create '%1' from '%2'").arg(ThumbCntName,er->modelList[i].textureName));
CharImage::colorizedScaledToHeight(64,chi).save(ThumbCntName,"jpg");
if(!QFile::exists(ThumbCntName))
QMessageBox::warning(this,"Error in Thumb creation",QString("Unable to create '%1' from '%2'").arg(ThumbCntName,er->modelList[i].textureName));
}
QLabel *countLabel = new QLabel(ui.imageTableWidget);
countLabel->setPixmap(QPixmap(ThumbCntName));
QPixmap tmp(ThumbCntName);
if(tmp.isNull())
QMessageBox::warning(this,"Error in Thumb creation",QString("Null Pixmap '%1'").arg(ThumbCntName));
ui.imageTableWidget->setCellWidget(i,3,countLabel);
}
show(); // necessary to make the size of the image preview correct.
ui.imageTableWidget->setItemSelected(ui.imageTableWidget->item(0,0),true);
ui.imageTableWidget->setItemSelected(ui.imageTableWidget->item(0,1),true);
ui.imageTableWidget->setItemSelected(ui.imageTableWidget->item(0,2),true);
}
bool Arc3DModel::BuildMesh(CMeshO &m, int subsampleFactor, int minCount, float minAngleCos, int smoothSteps,
bool dilation, int dilationPasses, int dilationSize,
bool erosion, int erosionPasses, int erosionSize,float scalingFactor)
{
FloatImage depthImgf;
CharImage countImgc;
clock();
depthImgf.Open(depthName.toUtf8().data());
countImgc.Open(countName.toUtf8().data());
QImage TextureImg;
TextureImg.load(textureName);
clock();
CombineHandMadeMaskAndCount(countImgc,maskName); // set count to zero for all masked points
FloatImage depthSubf; // the subsampled depth image
FloatImage countSubf; // the subsampled quality image (quality == count)
SmartSubSample(subsampleFactor,depthImgf,countImgc,depthSubf,countSubf,minCount);
CharImage FeatureMask; // the subsampled image with (quality == features)
GenerateGradientSmoothingMask(subsampleFactor, TextureImg, FeatureMask);
depthSubf.convertToQImage().save("tmp_depth.jpg", "jpg");
clock();
float depthThr = ComputeDepthJumpThr(depthSubf,0.8f);
for(int ii=0;ii<smoothSteps;++ii)
Laplacian2(depthSubf,countSubf,minCount,FeatureMask,depthThr);
clock();
vcg::tri::Grid<CMeshO>(m,depthSubf.w,depthSubf.h,depthImgf.w,depthImgf.h,&*depthSubf.v.begin());
clock();
// The depth is filtered and the minimum count mask is update accordingly.
// To be more specific the border of the depth map are identified by erosion
// and the relative vertex removed (by setting mincount equal to 0).
float depthThr2 = ComputeDepthJumpThr(depthSubf,0.95f);
depthFilter(depthSubf, countSubf, depthThr2,
dilation, dilationPasses, dilationSize,
erosion, erosionPasses, erosionSize);
int vn = m.vn;
for(int i=0;i<vn;++i)
if(countSubf.v[i]<minCount)
{
m.vert[i].SetD();
m.vn--;
}
cam.Open(cameraName.toUtf8().data());
CMeshO::VertexIterator vi;
Matrix33d Rinv= Inverse(cam.R);
for(vi=m.vert.begin();vi!=m.vert.end();++vi)if(!(*vi).IsD())
{
Point3m in=(*vi).P();
Point3d out;
cam.DepthTo3DPoint(in[0], in[1], in[2], out);
(*vi).P().Import(out);
QRgb c = TextureImg.pixel(int(in[0]), int(in[1]));
vcg::Color4b tmpcol(qRed(c),qGreen(c),qBlue(c),0);
(*vi).C().Import(tmpcol);
if(FeatureMask.Val(int(in[0]/subsampleFactor), int(in[1]/subsampleFactor))<200) (*vi).Q()=0;
else (*vi).Q()=1;
(*vi).Q()=float(FeatureMask.Val(in[0]/subsampleFactor, in[1]/subsampleFactor))/255.0;
}
clock();
CMeshO::FaceIterator fi;
Point3m CameraPos = Point3m::Construct(cam.t);
for(fi=m.face.begin();fi!=m.face.end();++fi)
{
if((*fi).V(0)->IsD() ||(*fi).V(1)->IsD() ||(*fi).V(2)->IsD() )
{
(*fi).SetD();
--m.fn;
}
else
{
Point3m n=vcg::TriangleNormal(*fi);
n.Normalize();
Point3m dir=CameraPos-vcg::Barycenter(*fi);
dir.Normalize();
if(dir.dot(n) < minAngleCos)
{
(*fi).SetD();
--m.fn;
}
}
}
tri::Clean<CMeshO>::RemoveUnreferencedVertex(m);
clock();
Matrix44m scaleMat;
scaleMat.SetScale(scalingFactor,scalingFactor,scalingFactor);
vcg::tri::UpdatePosition<CMeshO>::Matrix(m, scaleMat);
return true;
}