dense: add a fast way to adjust the confidence based on neightbors agreement

Author: cdcseacave

apps/DensifyPointCloud/DensifyPointCloud.cpp

@@ -161,7 +161,7 @@ bool Application::Initialize(size_t argc, LPCTSTR* argv)
 		("sample-mesh", boost::program_options::value(&OPT::fSampleMesh)->default_value(0.f), "uniformly samples points on a mesh (0 - disabled, <0 - number of points, >0 - sample density per square unit)")
 		("fusion-mode", boost::program_options::value(&OPT::nFusionMode)->default_value(0), "depth-maps fusion mode (-2 - fuse disparity-maps, -1 - export disparity-maps only, 0 - depth-maps & fusion, 1 - export depth-maps only)")
 		("fusion-filter", boost::program_options::value(&nFuseFilter)->default_value(2), "filter used to fuse the depth-maps (0 - merge, 1 - fuse, 2 - dense-fuse)")
-		("postprocess-dmaps", boost::program_options::value(&nOptimize)->default_value(7), "flags used to filter the depth-maps after estimation (0 - disabled, 1 - remove-speckles, 2 - fill-gaps, 4 - adjust-filter)")
+		("postprocess-dmaps", boost::program_options::value(&nOptimize)->default_value(0), "flags used to filter the depth-maps after estimation (0 - disabled, 1 - remove-speckles, 2 - fill-gaps, 4 - adjust-confidence)")
 		("filter-point-cloud", boost::program_options::value(&OPT::thFilterPointCloud)->default_value(0), "filter dense point-cloud based on visibility (0 - disabled)")
 		("export-number-views", boost::program_options::value(&OPT::nExportNumViews)->default_value(0), "export points with >= number of views (0 - disabled, <0 - save MVS project too)")
 		("roi-border", boost::program_options::value(&OPT::fBorderROI)->default_value(0), "add a border to the region-of-interest when cropping the scene (0 - disabled, >0 - percentage, <0 - absolute)")

libs/Common/Types.h

@@ -980,24 +980,13 @@ FORCEINLINE INTTYPE Round2Int(double x) {
 // INTERPOLATION
 
 // Linear interpolation
-inline float lerp(float u, float v, float x)
-{
-	return u + (v - u) * x;
-}
 template<typename Type>
 inline Type lerp(const Type& u, const Type& v, float x)
 {
 	return u + (v - u) * x;
 }
 
 // Cubic interpolation
-inline float cerp(float u0, float u1, float u2, float u3, float x)
-{
-	const float p((u3 - u2) - (u0 - u1));
-	const float q((u0 - u1) - p);
-	const float r(u2 - u0);
-	return x * (x * (x * p + q) + r) + u1;
-}
 template<typename Type>
 inline Type cerp(const Type& u0, const Type& u1, const Type& u2, const Type& u3, float x)
 {

libs/MVS/DepthMap.cpp

@@ -87,7 +87,6 @@ MDEFVAR_OPTDENSE_uint32(nMinPixelsFuse, "Min Pixels Fuse", "minimum number of de
 MDEFVAR_OPTDENSE_uint32(nMaxPointsFuse, "Max Points Fuse", "maximum number of pixels to fuse into a single point", "1000")
 MDEFVAR_OPTDENSE_uint32(nMaxFuseDepth, "Max Fuse Depth", "maximum depth in fusion graph traversal", "100")
 MDEFVAR_OPTDENSE_uint32(nPointInsideROI, "Point Inside ROI", "consider a point shared only if inside ROI when estimating the neighbor views (0 - ignore ROI, 1 - weight more ROI points, 2 - consider only ROI points)", "1")
-MDEFVAR_OPTDENSE_bool(bFilterAdjust, "Filter Adjust", "adjust depth estimates during filtering", "1")
 MDEFVAR_OPTDENSE_bool(bAddCorners, "Add Corners", "add support points at image corners with nearest neighbor disparities", "0")
 MDEFVAR_OPTDENSE_bool(bInitSparse, "Init Sparse", "init depth-map only with the sparse points (no interpolation)", "1")
 MDEFVAR_OPTDENSE_bool(bRemoveDmaps, "Remove Dmaps", "remove depth-maps after fusion", "0")
@@ -107,7 +106,7 @@ MDEFVAR_OPTDENSE_int32(nOptimizerMaxIters, "Optimizer Max Iters", "MRF optimizer
 MDEFVAR_OPTDENSE_uint32(nSpeckleSize, "Speckle Size", "maximal size of a speckle (small speckles get removed)", "100")
 MDEFVAR_OPTDENSE_uint32(nIpolGapSize, "Interpolate Gap Size", "interpolate small gaps (left<->right, top<->bottom)", "7")
 MDEFVAR_OPTDENSE_int32(nIgnoreMaskLabel, "Ignore Mask Label", "label id used during ignore mask filter (<0 - disabled)", "-1")
-DEFVAR_OPTDENSE_uint32(nOptimize, "Optimize", "should we filter the extracted depth-maps?", "7") // see DepthFlags
+DEFVAR_OPTDENSE_uint32(nOptimize, "Optimize", "should we filter the extracted depth-maps?", "0") // see DepthFlags
 DEFVAR_OPTDENSE_uint32(nFuseFilter, "Fuse Filter", "how to fuse the depth-maps into one dense point-cloud?", "2", "0", "1") // see FuseMode
 MDEFVAR_OPTDENSE_uint32(nEstimateColors, "Estimate Colors", "should we estimate the colors for the dense point-cloud?", "2", "0", "1")
 MDEFVAR_OPTDENSE_uint32(nEstimateNormals, "Estimate Normals", "should we estimate the normals for the dense point-cloud?", "2", "0", "1")
@@ -1695,6 +1694,31 @@ bool MVS::LoadConfidenceMap(const String& fileName, ConfidenceMap& confMap)
 /*----------------------------------------------------------------*/
 
 
+// filter depth-map and normal-map using a confidence theshold
+unsigned MVS::FilterDepthMap(DepthMap& depthMap, NormalMap& normalMap, const ConfidenceMap& confMap, float thConfidence)
+{
+	ASSERT(!depthMap.empty());
+	ASSERT(normalMap.size() == depthMap.size());
+	ASSERT(confMap.size() == depthMap.size());
+	unsigned numFiltered = 0;
+	#ifdef DEPTHMAP_USE_OPENMP
+	#pragma omp parallel for reduction(+:numFiltered)
+	#endif
+	for (int r = 0; r < depthMap.rows; r++) {
+		for (int c = 0; c < depthMap.cols; c++) {
+			Depth& depth = depthMap(r, c);
+			if (depth <= 0)
+				continue;
+			if (confMap(r, c) < thConfidence) {
+				depth = 0;
+				normalMap(r, c) = Normal::ZERO;
+				++numFiltered;
+			}
+		}
+	}
+	return numFiltered;
+} // FilterDepthMap
+/*----------------------------------------------------------------*/
 
 // export depth map as an image (dark - far depth, light - close depth)
 Image8U3 MVS::DepthMap2Image(const DepthMap& depthMap, Depth minDepth, Depth maxDepth)

libs/MVS/DepthMap.h

@@ -85,10 +85,11 @@ DECOPT_SPACE(OPTDENSE)
 namespace OPTDENSE {
 // configuration variables
 enum DepthFlags {
-	REMOVE_SPECKLES	= (1 << 0),
-	FILL_GAPS		= (1 << 1),
-	ADJUST_FILTER	= (1 << 2),
-	OPTIMIZE		= (REMOVE_SPECKLES|FILL_GAPS)
+	REMOVE_SPECKLES        = (1 << 0),
+	FILL_GAPS              = (1 << 1),
+	ADJUST_CONFIDENCE_FAST = (1 << 2),
+	ADJUST_CONFIDENCE      = (1 << 3),
+	OPTIMIZE               = (REMOVE_SPECKLES|FILL_GAPS)
 };
 enum FuseMode {
 	FUSE_NOFILTER = 0,
@@ -111,7 +112,6 @@ extern unsigned nMinPixelsFuse;
 extern unsigned nMaxPointsFuse;
 extern unsigned nMaxFuseDepth;
 extern unsigned nPointInsideROI;
-extern bool bFilterAdjust;
 extern bool bAddCorners;
 extern bool bInitSparse;
 extern bool bRemoveDmaps;
@@ -516,6 +516,7 @@ MVS_API bool LoadNormalMap(const String& fileName, NormalMap& normalMap);
 MVS_API bool SaveConfidenceMap(const String& fileName, const ConfidenceMap& confMap);
 MVS_API bool LoadConfidenceMap(const String& fileName, ConfidenceMap& confMap);
 
+MVS_API unsigned FilterDepthMap(DepthMap& depthMap, NormalMap& normalMap, const ConfidenceMap& confMap, float thConfidence=0.5f);
 MVS_API Image8U3 DepthMap2Image(const DepthMap& depthMap, Depth minDepth=FLT_MAX, Depth maxDepth=0);
 MVS_API bool ExportDepthMap(const String& fileName, const DepthMap& depthMap, Depth minDepth=FLT_MAX, Depth maxDepth=0);
 MVS_API bool ExportNormalMap(const String& fileName, const NormalMap& normalMap);

libs/MVS/PointCloud.h

@@ -180,9 +180,9 @@ typedef MVS_API TImage<Depth> DepthMap;
 typedef MVS_API TImage<Normal> NormalMap;
 typedef MVS_API TImage<float> ConfidenceMap;
 typedef MVS_API SEACAVE::cList<Depth,Depth,0> DepthArr;
-typedef MVS_API SEACAVE::cList<DepthMap,const DepthMap&,2> DepthMapArr;
-typedef MVS_API SEACAVE::cList<NormalMap,const NormalMap&,2> NormalMapArr;
-typedef MVS_API SEACAVE::cList<ConfidenceMap,const ConfidenceMap&,2> ConfidenceMapArr;
+typedef MVS_API CLISTDEF2IDX(DepthMap,IIndex) DepthMapArr;
+typedef MVS_API CLISTDEF2IDX(NormalMap,IIndex) NormalMapArr;
+typedef MVS_API CLISTDEF2IDX(ConfidenceMap,IIndex) ConfidenceMapArr;
 /*----------------------------------------------------------------*/
 
 } // namespace MVS