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dense: check and resize the existed dmap file to image #1024

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903f349
dense: check and resize the existed dmap file to image
thomas-19 Jul 10, 2023
6700e0c
load dmap size from header
thomas-19 Jul 16, 2023
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22 changes: 22 additions & 0 deletions libs/MVS/DepthMap.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2107,6 +2107,28 @@ bool MVS::ImportDepthDataRaw(const String& fileName, String& imageFileName,
} // ImportDepthDataRaw
/*----------------------------------------------------------------*/

bool MVS::GetDepthMapHeaderSize(const String& fileName, cv::Size& size)
{
FILE* f = fopen(fileName, "rb");
if (f == NULL) {
DEBUG("error: opening file '%s' for reading depth-data", fileName.c_str());
return false;
}
// read header
HeaderDepthDataRaw header;
if (fread(&header, sizeof(HeaderDepthDataRaw), 1, f) != 1 ||
header.name != HeaderDepthDataRaw::HeaderDepthDataRawName() ||
(header.type & HeaderDepthDataRaw::HAS_DEPTH) == 0 ||
header.depthWidth <= 0 || header.depthHeight <= 0 ||
header.imageWidth < header.depthWidth || header.imageHeight < header.depthHeight)
{
DEBUG("error: invalid depth-data file '%s'", fileName.c_str());
return false;
}
size = cv::Size(header.depthWidth, header.depthHeight);
fclose(f);
return true;
}

// compare the estimated and ground-truth depth-maps
void MVS::CompareDepthMaps(const DepthMap& depthMap, const DepthMap& depthMapGT, uint32_t idxImage, float threshold)
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2 changes: 2 additions & 0 deletions libs/MVS/DepthMap.h
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Expand Up @@ -519,6 +519,8 @@ MVS_API bool ImportDepthDataRaw(const String&, String& imageFileName,
Depth& dMin, Depth& dMax,
DepthMap&, NormalMap&, ConfidenceMap&, ViewsMap&, unsigned flags=15);

MVS_API bool GetDepthMapHeaderSize(const String& fileName, cv::Size& size);

MVS_API void CompareDepthMaps(const DepthMap& depthMap, const DepthMap& depthMapGT, uint32_t idxImage, float threshold=0.01f);
MVS_API void CompareNormalMaps(const NormalMap& normalMap, const NormalMap& normalMapGT, uint32_t idxImage);
/*----------------------------------------------------------------*/
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13 changes: 11 additions & 2 deletions libs/MVS/SceneDensify.cpp
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Expand Up @@ -33,6 +33,7 @@
#include "Scene.h"
#include "SceneDensify.h"
#include "PatchMatchCUDA.h"
#include "DepthMap.h"
// MRF: view selection
#include "../Math/TRWS/MRFEnergy.h"

Expand Down Expand Up @@ -1962,9 +1963,17 @@ void Scene::DenseReconstructionEstimate(void* pData)
}
// try to load already compute depth-map for this image
if (depthmapComputed && data.nFusionMode >= 0) {
const std::string depthMapName(ComposeDepthFilePath(data.scene.images[idx].ID, "dmap"));
cv::Size depthMapSize;
if (GetDepthMapHeaderSize(depthMapName, depthMapSize) && depthMapSize != data.scene.images[idx].GetSize()) {
depthData.Load(depthMapName);
DepthMap& depthMap = depthData.depthMap;
cv::resize(depthMap, depthMap, data.scene.images[idx].GetSize(), 0, 0, cv::INTER_NEAREST);
depthData.Save(depthMapName);
}
if (OPTDENSE::nOptimize & OPTDENSE::OPTIMIZE) {
if (!depthData.Load(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"))) {
VERBOSE("error: invalid depth-map '%s'", ComposeDepthFilePath(depthData.GetView().GetID(), "dmap").c_str());
if (!depthData.Load(depthMapName)) {
VERBOSE("error: invalid depth-map '%s'", depthMapName.c_str());
exit(EXIT_FAILURE);
}
// optimize depth-map
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