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Merge pull request #1465 from alicevision/dev/fix-helper-points
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[fuseCut] Fix adding helper points
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@fabiencastan
fabiencastan authored Aug 18, 2023
2 parents 3d3e0ee + f5d97c4 commit d6a3a33
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Showing 2 changed files with 71 additions and 23 deletions.
78 changes: 70 additions & 8 deletions src/aliceVision/fuseCut/DelaunayGraphCut.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,8 @@ namespace bfs = boost::filesystem;
// #define USE_GEOGRAM_KDTREE 1

#ifdef USE_GEOGRAM_KDTREE

typedef GEO::AdaptiveKdTree KdTree;
#else

// static const std::size_t MAX_LEAF_ELEMENTS = 64;
Expand Down Expand Up @@ -147,6 +149,49 @@ class SmallerPixSizeInRadius
};
#endif

class Tree
{
std::unique_ptr<KdTree> _tree;
std::unique_ptr<PointVectorAdaptator> _pointCloudRef;

public:
Tree(const std::vector<Point3d>& verticesCoords) { initKdTree(verticesCoords); }

void initKdTree(const std::vector<Point3d>& verticesCoords)
{
#ifdef USE_GEOGRAM_KDTREE
ALICEVISION_LOG_INFO("Build geogram KdTree index.");
_tree = std::make_unique<KdTree>(3);
_tree->set_exact(false);
_tree->set_points(verticesCoords.size(), verticesCoords.front().m);
#else
ALICEVISION_LOG_INFO("Build nanoflann KdTree index.");
_pointCloudRef = std::make_unique<PointVectorAdaptator>(verticesCoords);
_tree = std::make_unique<KdTree>(3 /*dim*/, *_pointCloudRef.get(),
nanoflann::KDTreeSingleIndexAdaptorParams(MAX_LEAF_ELEMENTS));
_tree->buildIndex();
#endif
ALICEVISION_LOG_INFO("KdTree created for " << verticesCoords.size() << " points.");
}

bool locateNearestVertex(const Point3d& p, std::size_t& index, double& sq_dist) const
{
index = std::numeric_limits<std::size_t>::max();
sq_dist = std::numeric_limits<double>::max();
#ifdef USE_GEOGRAM_KDTREE
_tree->get_nearest_neighbors(1, p.m, &index, &sq_dist);
return true;
#else
nanoflann::KNNResultSet<double, std::size_t> resultSet(1);
resultSet.init(&index, &sq_dist);
if(!_tree->findNeighbors(resultSet, p.m, nanoflann::SearchParams()))
{
return false;
}
return true;
#endif
}
};

/// Filter by pixSize
void filterByPixSize(const std::vector<Point3d>& verticesCoordsPrepare, std::vector<double>& pixSizePrepare, double pixSizeMarginCoef, std::vector<float>& simScorePrepare)
Expand Down Expand Up @@ -750,14 +795,18 @@ void DelaunayGraphCut::addPointsFromSfM(const Point3d hexah[8], const StaticVect
void DelaunayGraphCut::addPointsFromCameraCenters(const StaticVector<int>& cams, float minDist)
{
int addedPoints = 0;
const float minDist2 = minDist * minDist;
Tree kdTree(_verticesCoords);
for(int camid = 0; camid < cams.size(); camid++)
{
int rc = cams[camid];
{
const Point3d p(_mp.CArr[rc].x, _mp.CArr[rc].y, _mp.CArr[rc].z);
const GEO::index_t vi = locateNearestVertex(p);
std::size_t vi;
double sq_dist;

if((vi == GEO::NO_VERTEX) || ((_verticesCoords[vi] - _mp.CArr[rc]).size() > minDist))
// if there is no nearest vertex or the nearest vertex is not too close
if(!kdTree.locateNearestVertex(p, vi, sq_dist) || (sq_dist > minDist2))
{
const GEO::index_t nvi = _verticesCoords.size();
_verticesCoords.push_back(p);
Expand Down Expand Up @@ -797,12 +846,16 @@ void DelaunayGraphCut::addPointsToPreventSingularities(const Point3d voxel[8], f
fcg = (voxel[3] + voxel[2] + voxel[6] + voxel[7]) / 4.0f;
extrPts[5] = fcg + (fcg - vcg) / 10.0f;
int addedPoints = 0;
const float minDist2 = minDist * minDist;
Tree kdTree(_verticesCoords);
for(int i = 0; i < 6; i++)
{
const Point3d p(extrPts[i].x, extrPts[i].y, extrPts[i].z);
const GEO::index_t vi = locateNearestVertex(p);
std::size_t vi;
double sq_dist;

if((vi == GEO::NO_VERTEX) || ((_verticesCoords[vi] - extrPts[i]).size() > minDist))
// if there is no nearest vertex or the nearest vertex is not too close
if(!kdTree.locateNearestVertex(p, vi, sq_dist) || (sq_dist > minDist2))
{
_verticesCoords.push_back(p);
GC_vertexInfo newv;
Expand Down Expand Up @@ -885,6 +938,8 @@ void DelaunayGraphCut::addGridHelperPoints(int helperPointsGridSize, const Point
auto rand = std::bind(std::uniform_real_distribution<float>{0.0, 1.0}, generator);

int addedPoints = 0;
const float minDist2 = minDist * minDist;
Tree kdTree(_verticesCoords);
for(int x = 0; x <= ns; ++x)
{
for(int y = 0; y <= ns; ++y)
Expand All @@ -896,10 +951,11 @@ void DelaunayGraphCut::addGridHelperPoints(int helperPointsGridSize, const Point
pt = pt + (CG - pt).normalize() * (maxSize * rand());

const Point3d p(pt.x, pt.y, pt.z);
const GEO::index_t vi = locateNearestVertex(p);
std::size_t vi;
double sq_dist;

// if there is no nearest vertex or the nearest vertex is not too close
if((vi == GEO::NO_VERTEX) || ((_verticesCoords[vi] - pt).size() > minDist))
if(!kdTree.locateNearestVertex(p, vi, sq_dist) || (sq_dist > minDist2))
{
_verticesCoords.push_back(p);
GC_vertexInfo newv;
Expand All @@ -912,7 +968,8 @@ void DelaunayGraphCut::addGridHelperPoints(int helperPointsGridSize, const Point
}
}

ALICEVISION_LOG_WARNING("Add " << addedPoints << " new helper points for a 3D grid of " << ns << "x" << ns << "x" << ns <<".");
ALICEVISION_LOG_WARNING("Add " << addedPoints << " new helper points for a 3D grid of " << ns << "x" << ns << "x"
<< ns << " (" << std::pow(float(ns + 1), 3.f) << " points).");
}

void DelaunayGraphCut::addMaskHelperPoints(const Point3d voxel[8], const StaticVector<int>& cams, const FuseParams& params)
Expand Down Expand Up @@ -3007,12 +3064,17 @@ void DelaunayGraphCut::createDensePointCloud(const Point3d hexah[8], const Stati

ALICEVISION_LOG_INFO("Creating dense point cloud.");

const float minDist = hexah ? (hexah[0] - hexah[1]).size() / 1000.0f : 0.00001f;
const int helperPointsGridSize = _mp.userParams.get<int>("LargeScale.helperPointsGridSize", 10);
const int densifyNbFront = _mp.userParams.get<int>("LargeScale.densifyNbFront", 0);
const int densifyNbBack = _mp.userParams.get<int>("LargeScale.densifyNbBack", 0);
const double densifyScale = _mp.userParams.get<double>("LargeScale.densifyScale", 1.0);

const float minDist =
hexah && (helperPointsGridSize > 0)
? ((hexah[0] - hexah[1]).size() + (hexah[0] - hexah[3]).size() + (hexah[0] - hexah[4]).size()) /
(3. * helperPointsGridSize)
: 0.00001f;

// add points from depth maps
if(depthMapsFuseParams != nullptr)
fuseFromDepthMaps(cams, hexah, *depthMapsFuseParams);
Expand Down
16 changes: 1 addition & 15 deletions src/aliceVision/fuseCut/DelaunayGraphCut.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -280,21 +280,7 @@ class DelaunayGraphCut
}
return result;
}

inline GEO::index_t locateNearestVertex(const Point3d& p) const
{
if(_tetrahedralization->nb_vertices() == 0)
return GEO::NO_VERTEX;
/*
GEO::index_t cellIndex = ((const GEO::Delaunay3d*)_tetrahedralization.get())->locate(p.m); // TODO GEOGRAM: how to??
if(cellIndex == NO_TETRAHEDRON)
return GEO::NO_VERTEX;
return nearestVertexInCell(cellIndex, p);
*/
return _tetrahedralization->nearest_vertex(p.m); // TODO GEOGRAM: this is a brute force approach!
}


/**
* @brief A cell is infinite if one of its vertices is infinite.
*/
Expand Down

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