kopia lustrzana https://github.com/OpenDroneMap/ODM
Exposed number of neighbors, code cleanup, better shepard interpolation, parameter improvements
Piero Toffanin
rodzic
2750fb180d
commit
3e0d9702c0
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@ -100,8 +100,6 @@ void Odm25dMeshing::buildMesh(){
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polydataToProcess->SetPoints(points);
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polydataToProcess->GetPointData()->SetScalars(elevation);
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const double RADIUS = 0.01;
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const int RADIUS_STEPS = 1;
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const float NODATA = -9999;
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double *bounds = polydataToProcess->GetBounds();
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@ -133,20 +131,14 @@ void Odm25dMeshing::buildMesh(){
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vtkSmartPointer<vtkShepardKernel> shepardKernel =
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vtkSmartPointer<vtkShepardKernel>::New();
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shepardKernel->SetPowerParameter(2.0);
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shepardKernel->SetKernelFootprintToNClosest();
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shepardKernel->SetNumberOfPoints(shepardNeighbors);
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vtkSmartPointer<vtkImageData> image =
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vtkSmartPointer<vtkImageData>::New();
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image->SetDimensions(width, height, 1);
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log << "DSM size is " << width << "x" << height << " (" << ceil(width * height * sizeof(float) * 1e-6) << " MB) \n";
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image->AllocateScalars(VTK_FLOAT, 1);
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for (int i = 0; i < width; i++){
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for (int j = 0; j < height; j++){
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float* pixel = static_cast<float*>(image->GetScalarPointer(i,j,0));
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pixel[0] = NODATA;
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}
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}
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log << "Point interpolation using shepard's kernel...";
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@ -157,36 +149,33 @@ void Odm25dMeshing::buildMesh(){
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interpolator->SetKernel(shepardKernel);
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interpolator->SetLocator(locator);
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interpolator->SetNullValue(NODATA);
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interpolator->Update();
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double currentRadius = RADIUS;
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vtkSmartPointer<vtkPolyData> interpolatedPoly =
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interpolator->GetPolyDataOutput();
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for (int r = 0; r < RADIUS_STEPS; r++, currentRadius *= 3){
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log << " " << (r + 1) << " (" << currentRadius << ")...";
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vtkSmartPointer<vtkFloatArray> interpolatedElevation =
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vtkFloatArray::SafeDownCast(interpolatedPoly->GetPointData()->GetArray("elevation"));
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shepardKernel->SetRadius(currentRadius);
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if (r == RADIUS_STEPS - 1){
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interpolator->SetNullPointsStrategyToClosestPoint();
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// shepardKernel->SetKernelFootprintToNClosest();
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// shepardKernel->SetNumberOfPoints(8);
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for (int i = 0; i < width; i++){
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for (int j = 0; j < height; j++){
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float* pixel = static_cast<float*>(image->GetScalarPointer(i,j,0));
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vtkIdType cellId = interpolatedPoly->GetCell(j * width + i)->GetPointId(0);
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pixel[0] = interpolatedElevation->GetValue(cellId);
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}
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}
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interpolator->Update();
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log << "OK\n";
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vtkSmartPointer<vtkPolyData> interpolatedPoly =
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interpolator->GetPolyDataOutput();
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vtkSmartPointer<vtkFloatArray> interpolatedElevation =
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vtkFloatArray::SafeDownCast(interpolatedPoly->GetPointData()->GetArray("elevation"));
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for (int i = 0; i < width; i++){
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for (int j = 0; j < height; j++){
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float* pixel = static_cast<float*>(image->GetScalarPointer(i,j,0));
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if (pixel[0] == NODATA){
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vtkIdType cellId = interpolatedPoly->GetCell(j * width + i)->GetPointId(0);
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pixel[0] = interpolatedElevation->GetValue(cellId);
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}
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}
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}
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if (outputDsmFile != ""){
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log << "Saving DSM to file... ";
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vtkSmartPointer<vtkTIFFWriter> tiffWriter =
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vtkSmartPointer<vtkTIFFWriter>::New();
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tiffWriter->SetFileName(outputDsmFile.c_str());
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tiffWriter->SetInputData(image);
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tiffWriter->Write();
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log << "OK\n";
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}
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vtkSmartPointer<vtkImageAnisotropicDiffusion2D> surfaceDiffusion =
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@ -197,27 +186,17 @@ void Odm25dMeshing::buildMesh(){
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surfaceDiffusion->CornersOn();
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surfaceDiffusion->SetDiffusionFactor(1); // Full strength
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surfaceDiffusion->GradientMagnitudeThresholdOn();
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surfaceDiffusion->SetDiffusionThreshold(0.5); // Don't smooth jumps in elevation > than 0.3m
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surfaceDiffusion->SetNumberOfIterations(5);
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surfaceDiffusion->SetDiffusionThreshold(0.2); // Don't smooth jumps in elevation > than 0.20m
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surfaceDiffusion->SetNumberOfIterations(resolution / 2.0);
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surfaceDiffusion->Update();
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vtkSmartPointer<vtkImageAnisotropicDiffusion2D> diffusion =
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vtkSmartPointer<vtkImageAnisotropicDiffusion2D>::New();
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diffusion->SetInputConnection(surfaceDiffusion->GetOutputPort());
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diffusion->FacesOn();
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diffusion->EdgesOn();
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diffusion->CornersOn();
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diffusion->SetDiffusionFactor(0.5); // Half strength
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diffusion->SetNumberOfIterations(2);
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diffusion->Update();
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log << " OK\nTriangulate... ";
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log << "Triangulate... ";
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vtkSmartPointer<vtkGreedyTerrainDecimation> terrain =
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vtkSmartPointer<vtkGreedyTerrainDecimation>::New();
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terrain->SetErrorMeasureToNumberOfTriangles();
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terrain->SetNumberOfTriangles(maxVertexCount * 2); // Approximate
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terrain->SetInputData(diffusion->GetOutput());
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terrain->SetInputData(surfaceDiffusion->GetOutput());
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terrain->BoundaryVertexDeletionOn();
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terrain->Update();
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@ -243,7 +222,7 @@ void Odm25dMeshing::buildMesh(){
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// smoother->SetPassBand(0.5);
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// smoother->Update();
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log << "Saving mesh to file...";
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log << "Saving mesh to file... ";
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vtkSmartPointer<vtkPLYWriter> plyWriter =
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vtkSmartPointer<vtkPLYWriter>::New();
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@ -254,39 +233,37 @@ void Odm25dMeshing::buildMesh(){
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log << "OK\n";
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#ifdef SHOWDEBUGWINDOW
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vtkSmartPointer<vtkPolyDataMapper> mapper =
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vtkSmartPointer<vtkPolyDataMapper>::New();
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mapper->SetInputConnection(transformFilter->GetOutputPort());
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// mapper->SetInputConnection(interpolator->GetOutputPort());
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// mapper->SetInputData(polydataToShow);
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mapper->SetScalarRange(150, 170);
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if (showDebugWindow){
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vtkSmartPointer<vtkPolyDataMapper> mapper =
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vtkSmartPointer<vtkPolyDataMapper>::New();
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mapper->SetInputConnection(transformFilter->GetOutputPort());
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mapper->SetScalarRange(150, 170);
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// vtkSmartPointer<vtkDataSetMapper> mapper =
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// vtkSmartPointer<vtkDataSetMapper>::New();
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// mapper->SetInputData(image);
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// mapper->SetScalarRange(150, 170);
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// vtkSmartPointer<vtkDataSetMapper> mapper =
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// vtkSmartPointer<vtkDataSetMapper>::New();
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// mapper->SetInputData(image);
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// mapper->SetScalarRange(150, 170);
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vtkSmartPointer<vtkActor> actor =
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vtkSmartPointer<vtkActor>::New();
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actor->SetMapper(mapper);
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actor->GetProperty()->SetPointSize(5);
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vtkSmartPointer<vtkActor> actor =
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vtkSmartPointer<vtkActor>::New();
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actor->SetMapper(mapper);
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actor->GetProperty()->SetPointSize(5);
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vtkSmartPointer<vtkRenderer> renderer =
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vtkSmartPointer<vtkRenderer>::New();
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vtkSmartPointer<vtkRenderWindow> renderWindow =
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vtkSmartPointer<vtkRenderWindow>::New();
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renderWindow->AddRenderer(renderer);
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vtkSmartPointer<vtkRenderWindowInteractor> renderWindowInteractor =
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vtkSmartPointer<vtkRenderWindowInteractor>::New();
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renderWindowInteractor->SetRenderWindow(renderWindow);
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vtkSmartPointer<vtkRenderer> renderer =
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vtkSmartPointer<vtkRenderer>::New();
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vtkSmartPointer<vtkRenderWindow> renderWindow =
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vtkSmartPointer<vtkRenderWindow>::New();
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renderWindow->AddRenderer(renderer);
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vtkSmartPointer<vtkRenderWindowInteractor> renderWindowInteractor =
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vtkSmartPointer<vtkRenderWindowInteractor>::New();
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renderWindowInteractor->SetRenderWindow(renderWindow);
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renderer->AddActor(actor);
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renderer->SetBackground(0.1804,0.5451,0.3412); // Sea green
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renderer->AddActor(actor);
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renderer->SetBackground(0.1804,0.5451,0.3412); // Sea green
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renderWindow->Render();
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renderWindowInteractor->Start();
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#endif
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renderWindow->Render();
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renderWindowInteractor->Start();
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}
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}
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void Odm25dMeshing::parseArguments(int argc, char **argv) {
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@ -325,15 +302,14 @@ void Odm25dMeshing::parseArguments(int argc, char **argv) {
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//
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// outliersRemovalPercentage = std::min<double>(99.99, std::max<double>(outliersRemovalPercentage, 0));
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// log << "Outliers removal was manually set to: " << outliersRemovalPercentage << "\n";
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// } else if (argument == "-wlopIterations" && argIndex < argc) {
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// ++argIndex;
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// if (argIndex >= argc) throw Odm25dMeshingException("Argument '" + argument + "' expects 1 more input following it, but no more inputs were provided.");
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// std::stringstream ss(argv[argIndex]);
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// ss >> wlopIterations;
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// if (ss.bad()) throw Odm25dMeshingException("Argument '" + argument + "' has a bad value (wrong type).");
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//
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// wlopIterations = std::min<unsigned int>(1000, std::max<unsigned int>(wlopIterations, 1));
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// log << "WLOP iterations was manually set to: " << wlopIterations << "\n";
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} else if (argument == "-shepardNeighbors" && argIndex < argc) {
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++argIndex;
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if (argIndex >= argc) throw Odm25dMeshingException("Argument '" + argument + "' expects 1 more input following it, but no more inputs were provided.");
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std::stringstream ss(argv[argIndex]);
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ss >> shepardNeighbors;
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if (ss.bad()) throw Odm25dMeshingException("Argument '" + argument + "' has a bad value (wrong type).");
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shepardNeighbors = std::min<unsigned int>(1000, std::max<unsigned int>(shepardNeighbors, 1));
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log << "Shepard neighbors was manually set to: " << shepardNeighbors << "\n";
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} else if (argument == "-inputFile" && argIndex < argc) {
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++argIndex;
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if (argIndex >= argc) {
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@ -363,6 +339,23 @@ void Odm25dMeshing::parseArguments(int argc, char **argv) {
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}
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testFile.close();
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log << "Writing output to: " << outputFile << "\n";
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}else if (argument == "-outputDsmFile" && argIndex < argc) {
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++argIndex;
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if (argIndex >= argc) {
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throw Odm25dMeshingException(
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"Argument '" + argument
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+ "' expects 1 more input following it, but no more inputs were provided.");
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}
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outputDsmFile = std::string(argv[argIndex]);
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std::ofstream testFile(outputDsmFile.c_str());
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if (!testFile.is_open()) {
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throw Odm25dMeshingException(
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"Argument '" + argument + "' has a bad value. (file not accessible)");
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}
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testFile.close();
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log << "Saving DSM output to: " << outputDsmFile << "\n";
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} else if (argument == "-showDebugWindow") {
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showDebugWindow = true;
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} else if (argument == "-logFile" && argIndex < argc) {
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++argIndex;
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if (argIndex >= argc) {
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@ -1,8 +1,5 @@
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#pragma once
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#define SHOWDEBUGWINDOW
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#ifdef SHOWDEBUGWINDOW
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#include <vtkActor.h>
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#include <vtkCamera.h>
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#include <vtkPolyDataMapper.h>
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@ -11,7 +8,6 @@
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#include <vtkRenderWindow.h>
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#include <vtkRenderWindowInteractor.h>
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#include <vtkDataSetMapper.h>
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#endif
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#include <vtkVertexGlyphFilter.h>
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#include <vtkShepardKernel.h>
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@ -29,9 +25,7 @@
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#include <vtkWindowedSincPolyDataFilter.h>
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#include <vtkPointInterpolator.h>
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#include <vtkImageAnisotropicDiffusion2D.h>
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#include <vtkDelaunay2D.h>
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#include <vtkClipPolyData.h>
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#include <vtkTIFFWriter.h>
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#include <pcl/io/ply_io.h>
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#include <pcl/PCLPointCloud2.h>
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@ -83,6 +77,9 @@ private:
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std::string logFilePath = "odm_25dmeshing_log.txt";
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int maxVertexCount = 100000;
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double resolution = 20.0;
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unsigned int shepardNeighbors = 24;
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std::string outputDsmFile = "";
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bool showDebugWindow = false;
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vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
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vtkSmartPointer<vtkFloatArray> elevation = vtkSmartPointer<vtkFloatArray>::New();
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