kopia lustrzana https://github.com/OpenDroneMap/ODM
Merge branch 'python-port' into opensfm
Pau Gargallo
commit
c248da6edf
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|
@ -5,8 +5,7 @@ lib/
|
|||
logs/
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share/
|
||||
src/
|
||||
odm_texturing-build/
|
||||
*.user
|
||||
|
||||
cmvs.tar.gz
|
||||
parallel.tar.bz2
|
||||
LAStools.zip
|
||||
|
|
|
|||
|
|
@ -0,0 +1,203 @@
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@ -397,11 +397,6 @@ void OdmTexturing::triangleToImageAssignment()
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// Vector containing information if the face has been given an optimal camera or not
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std::vector<bool> hasOptimalCamera = std::vector<bool>(mesh_->tex_polygons[0].size());
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||||
//Vector containing minimal distances to optimal camera
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||||
std::vector<double> tTIA_distances(mesh_->tex_polygons[0].size(),DBL_MAX);
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//Vector containing minimal angles of face to cameraplane normals
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std::vector<double> tTIA_angles(mesh_->tex_polygons[0].size(),DBL_MAX);
|
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// Set default value that no face has an optimal camera
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for (size_t faceIndex = 0; faceIndex < hasOptimalCamera.size(); ++faceIndex)
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{
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@ -489,8 +484,7 @@ void OdmTexturing::triangleToImageAssignment()
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||||
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||||
}
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||||
std::vector<double> local_tTIA_distances(mesh_->tex_polygons[0].size(),DBL_MAX);
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std::vector<double> local_tTIA_angles(mesh_->tex_polygons[0].size(),DBL_MAX);
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// If any faces are visible in the current camera perform occlusion culling
|
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if (countInsideFrustum > 0)
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{
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@ -524,45 +518,16 @@ void OdmTexturing::triangleToImageAssignment()
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// Perform radius search in the acceleration structure
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||||
int radiusSearch = kdTree.radiusSearch(center, radius, neighbors, neighborsSquaredDistance);
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||||
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||||
// Extract distances for all vertices for face to camera
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||||
double d0 = cameraCloud->points[mesh_->tex_polygons[0][faceIndex].vertices[0]].z;
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||||
double d1 = cameraCloud->points[mesh_->tex_polygons[0][faceIndex].vertices[1]].z;
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||||
double d2 = cameraCloud->points[mesh_->tex_polygons[0][faceIndex].vertices[2]].z;
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||||
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||||
// Calculate largest distance and store in distance variable
|
||||
double distance = std::max(d0, std::max(d1,d2));
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||||
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||||
//Get points
|
||||
pcl::PointXYZ p0=cameraCloud->points[mesh_->tex_polygons[0][faceIndex].vertices[0]];
|
||||
pcl::PointXYZ p1=cameraCloud->points[mesh_->tex_polygons[0][faceIndex].vertices[1]];
|
||||
pcl::PointXYZ p2=cameraCloud->points[mesh_->tex_polygons[0][faceIndex].vertices[2]];
|
||||
//Calculate face normal
|
||||
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||||
pcl::PointXYZ diff0;
|
||||
pcl::PointXYZ diff1;
|
||||
diff0.x=p1.x-p0.x;
|
||||
diff0.y=p1.y-p0.y;
|
||||
diff0.z=p1.z-p0.z;
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||||
diff1.x=p2.x-p0.x;
|
||||
diff1.y=p2.y-p0.y;
|
||||
diff1.z=p2.z-p0.z;
|
||||
pcl::PointXYZ normal;
|
||||
normal.x=diff0.y*diff1.z-diff0.z*diff1.y;
|
||||
normal.y=-(diff0.x*diff1.z-diff0.z*diff1.x);
|
||||
normal.z=diff0.x*diff1.y-diff0.y*diff1.x;
|
||||
double norm=sqrt(normal.x*normal.x+normal.y*normal.y+normal.z*normal.z);
|
||||
//Angle of face to camera
|
||||
double cos=-normal.z/norm;
|
||||
|
||||
//Save distance of faceIndex to current camera
|
||||
local_tTIA_distances[faceIndex]=distance;
|
||||
|
||||
//Save angle of faceIndex to current camera
|
||||
local_tTIA_angles[faceIndex]=sqrt(1.0-cos*cos);
|
||||
// If other projections are found inside the radius
|
||||
if (radiusSearch > 0)
|
||||
{
|
||||
// Extract distances for all vertices for face to camera
|
||||
double d0 = cameraCloud->points[mesh_->tex_polygons[0][faceIndex].vertices[0]].z;
|
||||
double d1 = cameraCloud->points[mesh_->tex_polygons[0][faceIndex].vertices[1]].z;
|
||||
double d2 = cameraCloud->points[mesh_->tex_polygons[0][faceIndex].vertices[2]].z;
|
||||
|
||||
// Calculate largest distance and store in distance variable
|
||||
double distance = std::max(d0, std::max(d1,d2));
|
||||
|
||||
// Compare distance to all neighbors inside radius
|
||||
for (size_t i = 0; i < neighbors.size(); ++i)
|
||||
|
|
@ -594,14 +559,9 @@ void OdmTexturing::triangleToImageAssignment()
|
|||
{
|
||||
if (visibility[faceIndex])
|
||||
{
|
||||
if(local_tTIA_distances[faceIndex]<tTIA_distances[faceIndex]&&local_tTIA_angles[faceIndex]<tTIA_angles[faceIndex])
|
||||
{
|
||||
tTIA_angles[faceIndex]=local_tTIA_angles[faceIndex];
|
||||
tTIA_distances[faceIndex]=local_tTIA_distances[faceIndex];
|
||||
hasOptimalCamera[faceIndex] = true;
|
||||
tTIA_[faceIndex] = cameraIndex;
|
||||
++count;
|
||||
}
|
||||
hasOptimalCamera[faceIndex] = true;
|
||||
tTIA_[faceIndex] = cameraIndex;
|
||||
++count;
|
||||
}
|
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}
|
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|
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|
|
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13
run.py
13
run.py
|
|
@ -501,21 +501,14 @@ def getKeypoints():
|
|||
c += 1
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|
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if fileObject["isOk"]:
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if '--lowe-sift' in args:
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if not os.path.isfile(jobOptions["jobDir"] + "/" + fileObject["base"] + ".key.bin"):
|
||||
vlsiftJobs += "echo -n \"" + str(c) + "/" + str(objectStats["good"]) + " - \" && convert -format pgm \"" + fileObject["step_0_resizedImage"] + "\" \"" + fileObject["step_1_pgmFile"] + "\""
|
||||
vlsiftJobs += " && \"" + BIN_PATH + "/sift\" < \"" + fileObject["step_1_pgmFile"] + "\" > \"" + fileObject["step_1_keyFile"] + "\""
|
||||
vlsiftJobs += " && \"" + BIN_PATH + "/vlsift\" \"" + fileObject["step_1_pgmFile"] + "\" -o \"" + fileObject["step_1_keyFile"] + ".sift\" > /dev/null && perl \"" + BIN_PATH + "/../convert_vlsift_to_lowesift.pl\" \"" + jobOptions["jobDir"] + "/" + fileObject["base"] + "\""
|
||||
vlsiftJobs += " && gzip -f \"" + fileObject["step_1_keyFile"] + "\""
|
||||
vlsiftJobs += " && rm -f \"" + fileObject["step_1_pgmFile"] + "\""
|
||||
vlsiftJobs += " && rm -f \"" + fileObject["step_1_keyFile"] + ".sift\"\n"
|
||||
else:
|
||||
if not os.path.isfile(jobOptions["jobDir"] + "/" + fileObject["base"] + ".key.bin"):
|
||||
vlsiftJobs += "echo -n \"" + str(c) + "/" + str(objectStats["good"]) + " - \" && convert -format pgm \"" + fileObject["step_0_resizedImage"] + "\" \"" + fileObject["step_1_pgmFile"] + "\""
|
||||
vlsiftJobs += " && \"" + BIN_PATH + "/vlsift\" \"" + fileObject["step_1_pgmFile"] + "\" -o \"" + fileObject["step_1_keyFile"] + ".sift\" > /dev/null && perl \"" + BIN_PATH + "/../convert_vlsift_to_lowesift.pl\" \"" + jobOptions["jobDir"] + "/" + fileObject["base"] + "\""
|
||||
vlsiftJobs += " && gzip -f \"" + fileObject["step_1_keyFile"] + "\""
|
||||
vlsiftJobs += " && rm -f \"" + fileObject["step_1_pgmFile"] + "\""
|
||||
vlsiftJobs += " && rm -f \"" + fileObject["step_1_keyFile"] + ".sift\"\n"
|
||||
else:
|
||||
print "using existing " + jobOptions["jobDir"] + "/" + fileObject["base"] + ".key.bin"
|
||||
print "using existing " + jobOptions["jobDir"] + "/" + fileObject["base"] + ".key.bin"
|
||||
|
||||
siftDest = open(jobOptions["step_1_vlsift"], 'w')
|
||||
siftDest.write(vlsiftJobs)
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue