void
calculate_data_costs(mve::TriangleMesh::ConstPtr mesh, std::vector<TextureView> * texture_views,
Settings const & settings, ST * data_costs) {
mve::TriangleMesh::FaceList const & faces = mesh->get_faces();
mve::TriangleMesh::VertexList const & vertices = mesh->get_vertices();
mve::TriangleMesh::NormalList const & face_normals = mesh->get_face_normals();
std::size_t const num_faces = faces.size() / 3;
std::size_t const num_views = texture_views->size();
CollisionModel3D* model = newCollisionModel3D(true);
if (settings.geometric_visibility_test) {
/* Build up acceleration structure for the visibility test. */
ProgressCounter face_counter("\tBuilding collision model", num_faces);
model->setTriangleNumber(num_faces);
for (std::size_t i = 0; i < faces.size(); i += 3) {
face_counter.progress<SIMPLE>();
math::Vec3f v1 = vertices[faces[i]];
math::Vec3f v2 = vertices[faces[i + 1]];
math::Vec3f v3 = vertices[faces[i + 2]];
model->addTriangle(*v1, *v2, *v3);
face_counter.inc();
}
model->finalize();
}
std::vector<std::vector<ProjectedFaceInfo> > projected_face_infos(num_faces);
ProgressCounter view_counter("\tCalculating face qualities", num_views);
#pragma omp parallel
{
std::vector<std::pair<std::size_t, ProjectedFaceInfo> > projected_face_view_infos;
#pragma omp for schedule(dynamic)
for (std::uint16_t j = 0; j < texture_views->size(); ++j) {
view_counter.progress<SIMPLE>();
TextureView * texture_view = &texture_views->at(j);
texture_view->load_image();
texture_view->generate_validity_mask();
if (settings.data_term == GMI) {
texture_view->generate_gradient_magnitude();
texture_view->erode_validity_mask();
}
math::Vec3f const & view_pos = texture_view->get_pos();
math::Vec3f const & viewing_direction = texture_view->get_viewing_direction();
for (std::size_t i = 0; i < faces.size(); i += 3) {
std::size_t face_id = i / 3;
math::Vec3f const & v1 = vertices[faces[i]];
math::Vec3f const & v2 = vertices[faces[i + 1]];
math::Vec3f const & v3 = vertices[faces[i + 2]];
math::Vec3f const & face_normal = face_normals[face_id];
math::Vec3f const face_center = (v1 + v2 + v3) / 3.0f;
/* Check visibility and compute quality */
math::Vec3f view_to_face_vec = (face_center - view_pos).normalized();
math::Vec3f face_to_view_vec = (view_pos - face_center).normalized();
/* Backface culling */
float viewing_angle = face_to_view_vec.dot(face_normal);
if (viewing_angle < 0.0f || viewing_direction.dot(view_to_face_vec) < 0.0f)
continue;
if (std::acos(viewing_angle) > MATH_DEG2RAD(75.0f))
continue;
/* Projects into the valid part of the TextureView? */
if (!texture_view->inside(v1, v2, v3))
continue;
if (settings.geometric_visibility_test) {
/* Viewing rays do not collide? */
bool visible = true;
math::Vec3f const * samples[] = {&v1, &v2, &v3};
// TODO: random monte carlo samples...
for (std::size_t k = 0; k < sizeof(samples) / sizeof(samples[0]); ++k) {
math::Vec3f vertex = *samples[k];
math::Vec3f dir = view_pos - vertex;
float const dir_length = dir.norm();
dir.normalize();
if (model->rayCollision(*vertex, *dir, false, dir_length * 0.0001f, dir_length)) {
visible = false;
break;
}
}
if (!visible) continue;
}
ProjectedFaceInfo info = {j, 0.0f, math::Vec3f(0.0f, 0.0f, 0.0f)};
/* Calculate quality. */
texture_view->get_face_info(v1, v2, v3, &info, settings);
if (info.quality == 0.0) continue;
/* Change color space. */
mve::image::color_rgb_to_ycbcr(*(info.mean_color));
std::pair<std::size_t, ProjectedFaceInfo> pair(face_id, info);
projected_face_view_infos.push_back(pair);
}
texture_view->release_image();
texture_view->release_validity_mask();
if (settings.data_term == GMI) {
texture_view->release_gradient_magnitude();
}
view_counter.inc();
}
//std::sort(projected_face_view_infos.begin(), projected_face_view_infos.end());
#pragma omp critical
{
for (std::size_t i = projected_face_view_infos.size(); 0 < i; --i) {
std::size_t face_id = projected_face_view_infos[i - 1].first;
ProjectedFaceInfo const & info = projected_face_view_infos[i - 1].second;
projected_face_infos[face_id].push_back(info);
}
projected_face_view_infos.clear();
}
}
delete model;
model = NULL;
ProgressCounter face_counter("\tPostprocessing face infos", num_faces);
#pragma omp parallel for schedule(dynamic)
for (std::size_t i = 0; i < projected_face_infos.size(); ++i) {
face_counter.progress<SIMPLE>();
std::vector<ProjectedFaceInfo> & infos = projected_face_infos[i];
if (settings.outlier_removal != NONE) {
photometric_outlier_detection(&infos, settings);
infos.erase(std::remove_if(infos.begin(), infos.end(),
[](ProjectedFaceInfo const & info) -> bool {return info.quality == 0.0f;}),
infos.end());
}
std::sort(infos.begin(), infos.end());
face_counter.inc();
}
/* Determine the function for the normlization. */
float max_quality = 0.0f;
for (std::size_t i = 0; i < projected_face_infos.size(); ++i)
for (std::size_t j = 0; j < projected_face_infos[i].size(); ++j)
max_quality = std::max(max_quality, projected_face_infos[i][j].quality);
Histogram hist_qualities(0.0f, max_quality, 10000);
for (std::size_t i = 0; i < projected_face_infos.size(); ++i)
for (std::size_t j = 0; j < projected_face_infos[i].size(); ++j)
hist_qualities.add_value(projected_face_infos[i][j].quality);
float percentile = hist_qualities.get_approx_percentile(0.995f);
/* Calculate the costs. */
assert(num_faces < std::numeric_limits<std::uint32_t>::max());
assert(num_views < std::numeric_limits<std::uint16_t>::max());
assert(MRF_MAX_ENERGYTERM < std::numeric_limits<float>::max());
for (std::uint32_t i = 0; i < static_cast<std::uint32_t>(projected_face_infos.size()); ++i) {
for (std::size_t j = 0; j < projected_face_infos[i].size(); ++j) {
ProjectedFaceInfo const & info = projected_face_infos[i][j];
/* Clamp to percentile and normalize. */
float normalized_quality = std::min(1.0f, info.quality / percentile);
float data_cost = (1.0f - normalized_quality) * MRF_MAX_ENERGYTERM;
data_costs->set_value(i, info.view_id, data_cost);
}
/* Ensure that all memory is freeed. */
projected_face_infos[i].clear();
projected_face_infos[i].shrink_to_fit();
}
std::cout << "\tMaximum quality of a face within an image: " << max_quality << std::endl;
std::cout << "\tClamping qualities to " << percentile << " within normalization." << std::endl;
}
void
calculate_face_projection_infos(mve::TriangleMesh::ConstPtr mesh,
std::vector<TextureView> * texture_views, Settings const & settings,
FaceProjectionInfos * face_projection_infos) {
std::vector<unsigned int> const & faces = mesh->get_faces();
std::vector<math::Vec3f> const & vertices = mesh->get_vertices();
mve::TriangleMesh::NormalList const & face_normals = mesh->get_face_normals();
std::size_t const num_views = texture_views->size();
util::WallTimer timer;
std::cout << "\tBuilding BVH from " << faces.size() / 3 << " faces... " << std::flush;
BVHTree bvh_tree(faces, vertices);
std::cout << "done. (Took: " << timer.get_elapsed() << " ms)" << std::endl;
ProgressCounter view_counter("\tCalculating face qualities", num_views);
#pragma omp parallel
{
std::vector<std::pair<std::size_t, FaceProjectionInfo> > projected_face_view_infos;
#pragma omp for schedule(dynamic)
for (std::uint16_t j = 0; j < texture_views->size(); ++j) {
view_counter.progress<SIMPLE>();
TextureView * texture_view = &texture_views->at(j);
texture_view->load_image();
texture_view->generate_validity_mask();
if (settings.data_term == DATA_TERM_GMI) {
texture_view->generate_gradient_magnitude();
texture_view->erode_validity_mask();
}
math::Vec3f const & view_pos = texture_view->get_pos();
math::Vec3f const & viewing_direction = texture_view->get_viewing_direction();
for (std::size_t i = 0; i < faces.size(); i += 3) {
std::size_t face_id = i / 3;
math::Vec3f const & v1 = vertices[faces[i]];
math::Vec3f const & v2 = vertices[faces[i + 1]];
math::Vec3f const & v3 = vertices[faces[i + 2]];
math::Vec3f const & face_normal = face_normals[face_id];
math::Vec3f const face_center = (v1 + v2 + v3) / 3.0f;
/* Check visibility and compute quality */
math::Vec3f view_to_face_vec = (face_center - view_pos).normalized();
math::Vec3f face_to_view_vec = (view_pos - face_center).normalized();
/* Backface and basic frustum culling */
float viewing_angle = face_to_view_vec.dot(face_normal);
if (viewing_angle < 0.0f || viewing_direction.dot(view_to_face_vec) < 0.0f)
continue;
if (std::acos(viewing_angle) > MATH_DEG2RAD(75.0f))
continue;
/* Projects into the valid part of the TextureView? */
if (!texture_view->inside(v1, v2, v3))
continue;
if (settings.geometric_visibility_test) {
/* Viewing rays do not collide? */
bool visible = true;
math::Vec3f const * samples[] = {&v1, &v2, &v3};
// TODO: random monte carlo samples...
for (std::size_t k = 0; k < sizeof(samples) / sizeof(samples[0]); ++k) {
BVHTree::Ray ray;
ray.origin = *samples[k];
ray.dir = view_pos - ray.origin;
ray.tmax = ray.dir.norm();
ray.tmin = ray.tmax * 0.0001f;
ray.dir.normalize();
BVHTree::Hit hit;
if (bvh_tree.intersect(ray, &hit)) {
visible = false;
break;
}
}
if (!visible) continue;
}
FaceProjectionInfo info = {j, 0.0f, math::Vec3f(0.0f, 0.0f, 0.0f)};
/* Calculate quality. */
texture_view->get_face_info(v1, v2, v3, &info, settings);
if (info.quality == 0.0) continue;
/* Change color space. */
mve::image::color_rgb_to_ycbcr(*(info.mean_color));
std::pair<std::size_t, FaceProjectionInfo> pair(face_id, info);
projected_face_view_infos.push_back(pair);
}
texture_view->release_image();
texture_view->release_validity_mask();
if (settings.data_term == DATA_TERM_GMI) {
texture_view->release_gradient_magnitude();
}
view_counter.inc();
}
//std::sort(projected_face_view_infos.begin(), projected_face_view_infos.end());
#pragma omp critical
{
for (std::size_t i = projected_face_view_infos.size(); 0 < i; --i) {
std::size_t face_id = projected_face_view_infos[i - 1].first;
FaceProjectionInfo const & info = projected_face_view_infos[i - 1].second;
face_projection_infos->at(face_id).push_back(info);
}
projected_face_view_infos.clear();
}
}
}