Merge pull request #885 from raphael2692/fuseCut/minVis

[fuseCut] added a parameter to filter points based on number of observations
alicevision · Dec 1, 2020 · c00a526 · c00a526
2 parents 3ed4dbe + 3eca2c4
commit c00a526
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Showing 3 changed files with 16 additions and 0 deletions.
diff --git a/src/aliceVision/fuseCut/DelaunayGraphCut.cpp b/src/aliceVision/fuseCut/DelaunayGraphCut.cpp
@@ -871,12 +871,16 @@ void DelaunayGraphCut::fuseFromDepthMaps(const StaticVector<int>& cams, const Po
     verticesCoordsPrepare.resize(realMaxVertices);
     std::vector<double> pixSizePrepare(realMaxVertices);
     std::vector<float> simScorePrepare(realMaxVertices);
+
+    // counter for points filtered based on the number of observations (minVis)
+    int minVisCounter = 0;
 
     ALICEVISION_LOG_INFO("simFactor: " << params.simFactor);
     ALICEVISION_LOG_INFO("nbPixels: " << nbPixels);
     ALICEVISION_LOG_INFO("maxVertices: " << params.maxPoints);
     ALICEVISION_LOG_INFO("step: " << step);
     ALICEVISION_LOG_INFO("realMaxVertices: " << realMaxVertices);
+    ALICEVISION_LOG_INFO("minVis: " << params.minVis);
 
     ALICEVISION_LOG_INFO("Load depth maps and add points.");
     {
@@ -1078,6 +1082,13 @@ void DelaunayGraphCut::fuseFromDepthMaps(const StaticVector<int>& cams, const Po
             pixSizePrepare[vIndex] = -1;
             continue;
         }
+        // Filter points based on their number of observations
+        if(visCams.size() < params.minVis)
+        {
+            pixSizePrepare[vIndex] = -1;
+            minVisCounter += 1;
+            continue;
+        }
 
         const double angleScore = 1.0 + params.angleFactor / maxAngle;
         // Combine angleScore with simScore
@@ -1095,6 +1106,7 @@ void DelaunayGraphCut::fuseFromDepthMaps(const StaticVector<int>& cams, const Po
     ALICEVISION_LOG_INFO("Angle min: " << stat_minAngle << ", max: " << stat_maxAngle << ".");
     ALICEVISION_LOG_INFO("Angle score min: " << stat_minAngleScore << ", max: " << stat_maxAngleScore << ".");
 #endif
+    ALICEVISION_LOG_INFO((minVisCounter) << " points filtered based on the number of observations (minVis). ");
     removeInvalidPoints(verticesCoordsPrepare, pixSizePrepare, simScorePrepare, verticesAttrPrepare);
 
     ALICEVISION_LOG_INFO("Filter by angle score and sim score");

diff --git a/src/aliceVision/fuseCut/DelaunayGraphCut.hpp b/src/aliceVision/fuseCut/DelaunayGraphCut.hpp
@@ -42,6 +42,8 @@ struct FuseParams
     /// The step used to load depth values from depth maps is computed from maxInputPts. Here we define the minimal value for this step,
     /// so on small datasets we will not spend too much time at the beginning loading all depth values.
     int minStep = 2;
+    /// After fusion, filter points based on their number of observations
+    int minVis = 2;
 
     float simFactor = 15.0f;
     float angleFactor = 15.0f;

diff --git a/src/software/pipeline/main_meshing.cpp b/src/software/pipeline/main_meshing.cpp
@@ -303,6 +303,8 @@ int aliceVision_main(int argc, char* argv[])
             "simFactor")
         ("angleFactor", po::value<float>(&fuseParams.angleFactor)->default_value(fuseParams.angleFactor),
             "angleFactor")
+        ("minVis", po::value<int>(&fuseParams.minVis)->default_value(fuseParams.minVis),
+            "Filter points based on their number of observations")
         ("partitioning", po::value<EPartitioningMode>(&partitioningMode)->default_value(partitioningMode),
             "Partitioning: 'singleBlock' or 'auto'.")
         ("repartition", po::value<ERepartitionMode>(&repartitionMode)->default_value(repartitionMode),