void Arc3DModel::Laplacian2(FloatImage &depthImg, FloatImage &countImg, int minCount, CharImage &featureMask, float depthThr)
{
FloatImage Sum;
int w=depthImg.w,h=depthImg.h;
Sum.resize(w,h);
for(int y=1;y<h-1;++y)
for(int x=1;x<w-1;++x)
{
float curDepth=depthImg.Val(x,y);
int cnt=0;
for(int j=-1;j<=1;++j)
for(int i=-1;i<=1;++i)
{
int q=countImg.Val(x+i,y+j)-minCount+1;
if(q>0 && fabs(depthImg.Val(x+i,y+j)-curDepth) < depthThr) {
Sum.Val(x,y)+=q*depthImg.Val(x+i,y+j);
cnt+=q;
}
}
if(cnt>0) {
Sum.Val(x,y)/=cnt;
}
else Sum.Val(x,y)=depthImg.Val(x,y);
}
for(int y=1;y<h-1;++y)
for(int x=1;x<w-1;++x)
{
float q=(featureMask.Val(x,y)/255.0);
depthImg.Val(x,y) = depthImg.Val(x,y)*q + Sum.Val(x,y)*(1-q);
}
}
/// Apply the hand drawn mask image
bool Arc3DModel::CombineHandMadeMaskAndCount(CharImage &CountImg, QString maskName )
{
QImage maskImg(maskName);
qDebug("Trying to read maskname %s",qPrintable(maskName));
if(maskImg.isNull())
return false;
if( (maskImg.width()!= CountImg.w) || (maskImg.height()!= CountImg.h) )
{
qDebug("Warning mask and images does not match! %i %i vs %i %i",maskImg.width(),CountImg.w,maskImg.height(),CountImg.h);
return false;
}
for(int j=0;j<maskImg.height();++j)
for(int i=0;i<maskImg.width();++i)
if(qRed(maskImg.pixel(i,j))>128)
CountImg.Val(i,j)=0;
return true;
}
void Arc3DModel::SmartSubSample(int factor, FloatImage &fli, CharImage &chi, FloatImage &subD, FloatImage &subQ, int minCount)
{
assert(fli.w==chi.w && fli.h==chi.h);
int w=fli.w/factor;
int h=fli.h/factor;
subQ.resize(w,h);
subD.resize(w,h);
for(int i=0;i<w;++i)
for(int j=0;j<h;++j)
{
float maxcount=0;
int cnt=0;
float bestVal=0;
for(int ki=0;ki<factor;++ki)
for(int kj=0;kj<factor;++kj)
{
float q= chi.Val(i*factor+ki,j*factor+kj) - minCount+1 ;
if(q>0)
{
maxcount+= q;
bestVal +=q*fli.Val(i*factor+ki,j*factor+kj);
cnt++;
}
}
if(cnt>0)
{
subD.Val(i,j)=float(bestVal)/maxcount;
subQ.Val(i,j)=minCount-1 + float(maxcount)/cnt ;
}
else
{
subD.Val(i,j)=0;
subQ.Val(i,j)=0;
}
}
}
/*
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);
}
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;
}
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;
}
void Arc3DModel::GenerateGradientSmoothingMask(int subsampleFactor, QImage &OriginalTexture, CharImage &mask)
{
CharImage gray(OriginalTexture);
CharImage grad;
grad.resize(gray.w,gray.h);
int w=gray.w,h=gray.h;
for(int x=1;x<w-1;++x)
for(int y=1;y<h-1;++y)
{
int dx=abs(int(gray.Val(x,y))-int(gray.Val(x-1,y))) + abs(int(gray.Val(x,y))-int(gray.Val(x+1,y)));
int dy=abs(int(gray.Val(x,y))-int(gray.Val(x,y-1))) + abs(int(gray.Val(x,y))-int(gray.Val(x,y+1)));
grad.Val(x,y)=min(255,16*dx+dy);
}
// create subsampled mask
int ws=gray.w/subsampleFactor, hs=gray.h/subsampleFactor;
mask.resize(ws,hs);
for(int x=0;x<ws;++x)
for(int y=0;y<hs;++y)
{
unsigned char maxGrad=0;
for(int si=0;si<subsampleFactor;++si)
for(int sj=0;sj<subsampleFactor;++sj)
maxGrad = max(maxGrad, grad.Val(x*subsampleFactor+sj,y*subsampleFactor+si));
mask.Val(x,y) = maxGrad;
}
CharImage mask2;
mask2.resize(ws, hs);
// average filter (11 x 11)
int avg;
int wsize = 5;
for (int y = wsize; y < hs-wsize; y++)
for (int x = wsize; x < ws-wsize; x++)
{
avg = 0;
for (int yy = y - wsize; yy <= y + wsize; yy++)
for (int xx = x - wsize; xx <= x + wsize; xx++)
avg += mask.Val(xx, yy);
mask2.Val(x, y) = min(255, avg / ((2 * wsize + 1)* (2 * wsize +1)));
}
mask.convertToQImage().save("tmp_testmask.jpg","jpg");
mask2.convertToQImage().save("tmp_testmaskSmooth.jpg","jpg");
// erosion filter (7 x 7)
int minimum;
wsize = 3;
for (int y = wsize; y < hs-wsize; y++)
for (int x = wsize; x < ws-wsize; x++)
{
minimum = mask2.Val(x, y);
for (int yy = y - wsize; yy <= y + wsize; yy++)
for (int xx = x - wsize; xx <= x + wsize; xx++)
if (mask2.Val(xx, yy) < minimum)
minimum = mask2.Val(xx, yy);
mask.Val(x, y) = minimum;
}
grad.convertToQImage().save("tmp_test.jpg","jpg");
mask.convertToQImage().save("tmp_testmaskeroded.jpg","jpg");
}