Replaced anisotropic filtering with median filtering, parameter tweaking, cleanup

Former-commit-id: debecc7702

modules/odm_25dmeshing/src/Odm25dMeshing.cpp

@@ -190,38 +190,49 @@ void Odm25dMeshing::buildMesh(){
 		}
 	}
 
+	log << "OK\nMedian filter...";
+
+	vtkSmartPointer<vtkImageMedian3D> medianFilter =
+			vtkSmartPointer<vtkImageMedian3D>::New();
+	medianFilter->SetInputData(image);
+	medianFilter->SetKernelSize(
+			std::max(1.0, resolution),
+			std::max(1.0, resolution),
+			1);
+	medianFilter->Update();
+
 	log << "OK\n";
 
+//	double diffuseIterations = std::max(1.0, resolution / 2.0);
+//	vtkSmartPointer<vtkImageAnisotropicDiffusion2D> diffuse1 =
+//			vtkSmartPointer<vtkImageAnisotropicDiffusion2D>::New();
+//	diffuse1->SetInputConnection(medianFilter->GetOutputPort());
+//	diffuse1->FacesOn();
+//	diffuse1->EdgesOn();
+//	diffuse1->CornersOn();
+//	diffuse1->SetDiffusionFactor(1); // Full strength
+//	diffuse1->GradientMagnitudeThresholdOn();
+//	diffuse1->SetDiffusionThreshold(0.2); // Don't smooth jumps in elevation > than 0.20m
+//	diffuse1->SetNumberOfIterations(diffuseIterations);
+//	diffuse1->Update();
 
 	if (outputDsmFile != ""){
 		log << "Saving DSM to file... ";
 		vtkSmartPointer<vtkTIFFWriter> tiffWriter =
 				vtkSmartPointer<vtkTIFFWriter>::New();
 		tiffWriter->SetFileName(outputDsmFile.c_str());
-		tiffWriter->SetInputData(image);
+		tiffWriter->SetInputData(medianFilter->GetOutput());
 		tiffWriter->Write();
 		log << "OK\n";
 	}
 
-	vtkSmartPointer<vtkImageAnisotropicDiffusion2D> surfaceDiffusion =
-			vtkSmartPointer<vtkImageAnisotropicDiffusion2D>::New();
-	surfaceDiffusion->SetInputData(image);
-	surfaceDiffusion->FacesOn();
-	surfaceDiffusion->EdgesOn();
-	surfaceDiffusion->CornersOn();
-	surfaceDiffusion->SetDiffusionFactor(1); // Full strength
-	surfaceDiffusion->GradientMagnitudeThresholdOn();
-	surfaceDiffusion->SetDiffusionThreshold(0.2); // Don't smooth jumps in elevation > than 0.20m
-	surfaceDiffusion->SetNumberOfIterations(resolution / 2.0);
-	surfaceDiffusion->Update();
-
 	log << "Triangulate... ";
 
 	vtkSmartPointer<vtkGreedyTerrainDecimation> terrain =
 			vtkSmartPointer<vtkGreedyTerrainDecimation>::New();
 	terrain->SetErrorMeasureToNumberOfTriangles();
 	terrain->SetNumberOfTriangles(maxVertexCount * 2); // Approximate
-	terrain->SetInputData(surfaceDiffusion->GetOutput());
+	terrain->SetInputData(medianFilter->GetOutput());
 	terrain->BoundaryVertexDeletionOn();
 	terrain->Update();
 

modules/odm_25dmeshing/src/Odm25dMeshing.hpp

@@ -30,6 +30,7 @@
 #include <vtkImageAnisotropicDiffusion2D.h>
 #include <vtkTIFFWriter.h>
 #include <vtkStatisticalOutlierRemoval.h>
+#include <vtkImageMedian3D.h>
 
 // For compatibility with new VTK generic data arrays
 #ifdef vtkGenericDataArray_h

scripts/mvstex.py

@@ -50,7 +50,8 @@ class ODMMvsTexCell(ecto.Cell):
 
         runs = [{
             'out_dir': tree.odm_texturing,
-            'model': tree.odm_mesh
+            'model': tree.odm_mesh,
+            'force_skip_vis_test': False
         }]
 
         if args.fast_orthophoto:
@@ -59,7 +60,14 @@ class ODMMvsTexCell(ecto.Cell):
         if args.use_25dmesh:
             runs += [{
                     'out_dir': tree.odm_25dtexturing,
-                    'model': tree.odm_25dmesh
+                    'model': tree.odm_25dmesh,
+
+                    # We always skip the visibility test when using the 2.5D mesh
+                    # because many faces end up being narrow, and almost perpendicular 
+                    # to the ground plane. The visibility test improperly classifies
+                    # them as "not seen" since the test is done on a single triangle vertex,
+                    # and while one vertex might be occluded, the other two might not.
+                    'force_skip_vis_test': True 
                 }]
 
         for r in runs:
@@ -77,7 +85,7 @@ class ODMMvsTexCell(ecto.Cell):
                 skipHoleFilling = ""
                 keepUnseenFaces = ""
                 
-                if (self.params.skip_vis_test):
+                if (self.params.skip_vis_test or r['force_skip_vis_test']):
                     skipGeometricVisibilityTest = "--skip_geometric_visibility_test"
                 if (self.params.skip_glob_seam_leveling):
                     skipGlobalSeamLeveling = "--skip_global_seam_leveling"