dense: estimate SfM normals and surface patches

Author: cdcseacave

apps/DensifyPointCloud/DensifyPointCloud.cpp

@@ -61,6 +61,7 @@ String strExportDepthMapsName;
 String strMaskPath;
 float fMaxSubsceneArea;
 float fSampleMesh;
+float fSampleMeshNeighbors;
 float fBorderROI;
 bool bCrop2ROI;
 int nEstimateROI;
@@ -71,6 +72,7 @@ float fEstimateScale;
 int nEstimateSegmentation;
 int thFilterPointCloud;
 int nExportNumViews;
+bool bForceNeighborsFromImages;
 int nArchiveType;
 int nProcessPriority;
 unsigned nMaxThreads;
@@ -179,6 +181,8 @@ bool Application::Initialize(size_t argc, LPCTSTR* argv)
 	// in config file, but will not be shown to the user
 	boost::program_options::options_description hidden("Hidden options");
 	hidden.add_options()
+		("force-neighbors-from-images", boost::program_options::value(&OPT::bForceNeighborsFromImages)->default_value(false), "force estimating neighbor views from image pairs baseline")
+		("sample-mesh-for-neighbors", boost::program_options::value(&OPT::fSampleMeshNeighbors)->default_value(0.f), "mesh sampling used for neighbor views estimation (0 - disabled/use mesh vertices, <0 - number of points, >0 - sample density per square unit)")
 		("mesh-file", boost::program_options::value<std::string>(&OPT::strMeshFileName), "mesh file name used for image pair overlap estimation")
 		("export-roi-file", boost::program_options::value<std::string>(&OPT::strExportROIFileName), "ROI file name to be exported form the scene")
 		("import-roi-file", boost::program_options::value<std::string>(&OPT::strImportROIFileName), "ROI file name to be imported into the scene")
@@ -473,8 +477,25 @@ int main(int argc, LPCTSTR* argv)
 		#endif
 		if ((ARCHIVE_TYPE)OPT::nArchiveType == ARCHIVE_MVS)
 			sparsePointCloud = scene.pointcloud;
+		if (OPT::bForceNeighborsFromImages) {
+			// force estimating neighbor views from image pairs baseline
+			if (!scene.IsEmpty()) {
+				scene.pointcloud.Release();
+				scene.mesh.Release();
+				VERBOSE("Remove all scene geometry");
+			}
+			bool bHasNeighbors(false);
+			for (Image& image: scene.images) {
+				if (!image.neighbors.IsEmpty()) {
+					image.neighbors.Release();
+					bHasNeighbors = true;
+				}
+			}
+			if (bHasNeighbors)
+				VERBOSE("Removed all image neighbors");
+		}
 		TD_TIMER_START();
-		if (!scene.DenseReconstruction(OPT::nFusionMode, OPT::bCrop2ROI, OPT::fBorderROI)) {
+		if (!scene.DenseReconstruction(OPT::nFusionMode, OPT::bCrop2ROI, OPT::fBorderROI, OPT::fSampleMeshNeighbors)) {
 			if (ABS(OPT::nFusionMode) != 1)
 				return EXIT_FAILURE;
 			VERBOSE("Depth-maps estimated (%s)", TD_TIMER_GET_FMT().c_str());

libs/Common/CMakeLists.txt

@@ -1,3 +1,11 @@
+# Find required packages
+FIND_PACKAGE(nanoflann REQUIRED)
+if(nanoflann_FOUND)
+	include_directories(${nanoflann_INCLUDE_DIRS})
+	add_definitions(${nanoflann_DEFINITIONS})
+	MESSAGE(STATUS "nanoflann ${nanoflann_VERSION} found")
+endif()
+
 # List sources files
 FILE(GLOB LIBRARY_FILES_C "*.cpp")
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")

libs/Common/Types.h

@@ -152,6 +152,14 @@ namespace cv { namespace gpu = cuda; }
 #pragma pop_macro("DEBUG")
 #pragma pop_macro("free")
 
+#pragma push_macro("free")
+#undef free
+#pragma push_macro("malloc")
+#undef malloc
+#include <nanoflann.hpp>
+#pragma pop_macro("malloc")
+#pragma pop_macro("free")
+
 #ifdef _USE_SSE
 #include <xmmintrin.h>
 #include <emmintrin.h>

libs/MVS/DepthMap.cpp

@@ -1881,7 +1881,7 @@ bool MVS::ExportConfidenceMap(const String& fileName, const ConfidenceMap& confM
 	}
 	if (confs.IsEmpty())
 		return false;
-	const std::pair<float,float> th(ComputeX84Threshold<float,float>(confs.Begin(), confs.GetSize()));
+	const std::pair<float,float> th(ComputeX84Threshold<float,float>(confs.data(), confs.size()));
 	float minConf = th.first-th.second;
 	float maxConf = th.first+th.second;
 	if (minConf < 0.1f)
@@ -2301,7 +2301,7 @@ void MVS::CompareNormalMaps(const NormalMap& normalMap, const NormalMap& normalM
 	const MeanStd<float,double> ms(errors.Begin(), errors.GetSize());
 	const float mean((float)ms.GetMean());
 	const float stddev((float)ms.GetStdDev());
-	const std::pair<float,float> th(ComputeX84Threshold<float,float>(errors.Begin(), errors.GetSize()));
+	const std::pair<float,float> th(ComputeX84Threshold<float,float>(errors.data(), errors.size()));
 	VERBOSE("Normal-maps compared for image % 3u: %.2f median %.2f mean %.2f stddev error (%s)",
 		idxImage,
 		th.first, mean, stddev,