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[depthMap] [fuseCut] remove image transposition #653

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Jul 2, 2019
Merged

[depthMap] [fuseCut] remove image transposition #653

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3 changes: 0 additions & 3 deletions src/aliceVision/depthMap/DepthSimMap.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -433,9 +433,6 @@ void DepthSimMap::load(int rc, int fromScale)
imageIO::readImage(getFileNameFromIndex(mp, rc, mvsUtils::EFileType::depthMap, fromScale), width, height, depthMap.getDataWritable(), imageIO::EImageColorSpace::NO_CONVERSION);
imageIO::readImage(getFileNameFromIndex(mp, rc, mvsUtils::EFileType::simMap, fromScale), width, height, simMap.getDataWritable(), imageIO::EImageColorSpace::NO_CONVERSION);

imageIO::transposeImage(width, height, depthMap.getDataWritable());
imageIO::transposeImage(width, height, simMap.getDataWritable());

initFromDepthMapTAndSimMapT(&depthMap, &simMap, fromScale);
}

Expand Down
180 changes: 78 additions & 102 deletions src/aliceVision/fuseCut/Fuser.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -101,7 +101,7 @@ bool Fuser::updateInSurr(int pixSizeBall, int pixSizeBallWSP, Point3d& p, int rc

int d = pixSizeBall;

float sim = (*simMap)[cell.x * h + cell.y];
float sim = (*simMap)[cell.y * w + cell.x];
if(sim >= 1.0f)
{
d = pixSizeBallWSP;
Expand All @@ -116,13 +116,13 @@ bool Fuser::updateInSurr(int pixSizeBall, int pixSizeBallWSP, Point3d& p, int rc
for(ncell.y = std::max(0, cell.y - d); ncell.y <= std::min(h - 1, cell.y + d); ncell.y++)
{
// printf("%i %i %i %i %i %i %i %i\n",ncell.x,ncell.y,w,h,w*h,depthMap->size(),cam,scale);
float depth = (*depthMap)[ncell.x * h + ncell.y];
float depth = (*depthMap)[ncell.y * w + ncell.x];
// Point3d p1 = mp->CArr[rc] +
// (mp->iCamArr[rc]*Point2d((float)ncell.x*(float)scale,(float)ncell.y*(float)scale)).normalize()*depth;
// if ( (p1-p).size() < pixSize ) {
if(fabs(pixDepth - depth) < pixSize)
{
(*numOfPtsMap)[ncell.x * h + ncell.y]++;
(*numOfPtsMap)[ncell.y * w + ncell.x]++;
}
}
}
Expand Down Expand Up @@ -165,9 +165,6 @@ bool Fuser::filterGroupsRC(int rc, int pixSizeBall, int pixSizeBallWSP, int nNea

imageIO::readImage(getFileNameFromIndex(mp, rc, mvsUtils::EFileType::depthMap, 1), width, height, depthMap.getDataWritable(), imageIO::EImageColorSpace::NO_CONVERSION);
imageIO::readImage(getFileNameFromIndex(mp, rc, mvsUtils::EFileType::simMap, 1), width, height, simMap.getDataWritable(), imageIO::EImageColorSpace::NO_CONVERSION);

imageIO::transposeImage(width, height, depthMap.getDataWritable());
imageIO::transposeImage(width, height, simMap.getDataWritable());
}

std::vector<unsigned char> numOfModalsMap(w * h, 0);
Expand Down Expand Up @@ -195,26 +192,22 @@ bool Fuser::filterGroupsRC(int rc, int pixSizeBall, int pixSizeBallWSP, int nNea

{
int width, height;

imageIO::readImage(getFileNameFromIndex(mp, tc, mvsUtils::EFileType::depthMap, 1), width, height, tcdepthMap.getDataWritable(), imageIO::EImageColorSpace::NO_CONVERSION);

// transpose image in-place, width/height are no more valid after this function.
imageIO::transposeImage(width, height, tcdepthMap.getDataWritable());
}

if(!tcdepthMap.empty())
{
for(int i = 0; i < sizeOfStaticVector<float>(&tcdepthMap); i++)
{
int x = i / h;
int y = i % h;
float depth = tcdepthMap[i];
if(depth > 0.0f)
for(int y = 0; y < h; ++y)
for(int x = 0; x < w; ++x)
{
Point3d p = mp->CArr[tc] + (mp->iCamArr[tc] * Point2d((float)x, (float)y)).normalize() * depth;
updateInSurr(pixSizeBall, pixSizeBallWSP, p, rc, tc, numOfPtsMap, &depthMap, &simMap, 1);
float depth = tcdepthMap[y * w + x];
if(depth > 0.0f)
{
Point3d p = mp->CArr[tc] + (mp->iCamArr[tc] * Point2d((float)x, (float)y)).normalize() * depth;
updateInSurr(pixSizeBall, pixSizeBallWSP, p, rc, tc, numOfPtsMap, &depthMap, &simMap, 1);
}
}
}


for(int i = 0; i < w * h; i++)
{
Expand All @@ -226,7 +219,6 @@ bool Fuser::filterGroupsRC(int rc, int pixSizeBall, int pixSizeBallWSP, int nNea
{
using namespace imageIO;
OutputFileColorSpace colorspace(EImageColorSpace::NO_CONVERSION);
transposeImage(h, w, numOfModalsMap);
writeImage(getFileNameFromIndex(mp, rc, mvsUtils::EFileType::nmodMap), w, h, numOfModalsMap, EImageQuality::LOSSLESS, colorspace);
}

Expand Down Expand Up @@ -273,10 +265,6 @@ bool Fuser::filterDepthMapsRC(int rc, int minNumOfModals, int minNumOfModalsWSP2
imageIO::readImage(getFileNameFromIndex(mp, rc, mvsUtils::EFileType::depthMap, 1), width, height, depthMap, imageIO::EImageColorSpace::NO_CONVERSION);
imageIO::readImage(getFileNameFromIndex(mp, rc, mvsUtils::EFileType::simMap, 1), width, height, simMap, imageIO::EImageColorSpace::NO_CONVERSION);
imageIO::readImage(getFileNameFromIndex(mp, rc, mvsUtils::EFileType::nmodMap), width, height, numOfModalsMap, imageIO::EImageColorSpace::NO_CONVERSION);

imageIO::transposeImage(width, height, depthMap);
imageIO::transposeImage(width, height, simMap);
imageIO::transposeImage(width, height, numOfModalsMap);
}

int nbDepthValues = 0;
Expand Down Expand Up @@ -309,9 +297,6 @@ bool Fuser::filterDepthMapsRC(int rc, int minNumOfModals, int minNumOfModalsWSP2
++nbDepthValues;
}

imageIO::transposeImage(h, w, depthMap);
imageIO::transposeImage(h, w, simMap);

oiio::ParamValueList metadata = imageIO::getMetadataFromMap(mp->getMetadata(rc));
metadata.push_back(oiio::ParamValue("AliceVision:nbDepthValues", oiio::TypeDesc::INT32, 1, &nbDepthValues));
metadata.push_back(oiio::ParamValue("AliceVision:downscale", mp->getDownscaleFactor(rc)));
Expand Down Expand Up @@ -350,39 +335,37 @@ float Fuser::computeAveragePixelSizeInHexahedron(Point3d* hexah, int step, int s
{
int rc = cams[c];
int h = mp->getHeight(rc) / scaleuse;
int w = mp->getWidth(rc) / scaleuse;
StaticVector<float> rcdepthMap;

{
int width, height;

imageIO::readImage(getFileNameFromIndex(mp, rc, mvsUtils::EFileType::depthMap, scale), width, height, rcdepthMap.getDataWritable(), imageIO::EImageColorSpace::NO_CONVERSION);

imageIO::transposeImage(width, height, rcdepthMap.getDataWritable());
}

for(int i = 0; i < rcdepthMap.size(); i++)
{
int x = i / h;
int y = i % h;
float depth = rcdepthMap[i];
if(depth > 0.0f)
for(int y = 0; y < h; y++)
for(int x = 0; x < w; ++x)
{
if(j % step == 0)
float depth = rcdepthMap[y * w + x];
if(depth > 0.0f)
{
Point3d p = mp->CArr[rc] +
(mp->iCamArr[rc] * Point2d((float)x * (float)scaleuse, (float)y * (float)scaleuse))
.normalize() *
depth;
if(mvsUtils::isPointInHexahedron(p, hexah))
if(j % step == 0)
{
float v = mp->getCamPixelSize(p, rc);
av += v; // WARNING: the value may be too big for a float
nav += 1.0f;
minv = std::min(minv, v);
Point3d p = mp->CArr[rc] +
(mp->iCamArr[rc] * Point2d((float)x * (float)scaleuse, (float)y * (float)scaleuse))
.normalize() *
depth;
if(mvsUtils::isPointInHexahedron(p, hexah))
{
float v = mp->getCamPixelSize(p, rc);
av += v; // WARNING: the value may be too big for a float
nav += 1.0f;
minv = std::min(minv, v);
}
}
j++;
}
j++;
}
}
//mvsUtils::printfEstimate(c, cams.size(), t1);
}
//mvsUtils::finishEstimate();
Expand Down Expand Up @@ -447,21 +430,19 @@ void Fuser::divideSpaceFromDepthMaps(Point3d* hexah, float& minPixSize)
Stat3d s3d = Stat3d();
for(int rc = 0; rc < mp->ncams; rc++)
{
int h = mp->getHeight(rc);
int w = mp->getWidth(rc);

StaticVector<float> depthMap;
{
int width, height;

imageIO::readImage(getFileNameFromIndex(mp, rc, mvsUtils::EFileType::depthMap, scale), width, height, depthMap.getDataWritable(), imageIO::EImageColorSpace::NO_CONVERSION);

imageIO::transposeImage(width, height, depthMap.getDataWritable());
}

for(int i = 0; i < sizeOfStaticVector<float>(&depthMap); i += stepPts)
{
int x = i / h;
int y = i % h;
int x = i % w;
int y = i / w;
float depth = depthMap[i];
if(depth > 0.0f)
{
Expand Down Expand Up @@ -493,21 +474,19 @@ void Fuser::divideSpaceFromDepthMaps(Point3d* hexah, float& minPixSize)

for(int rc = 0; rc < mp->ncams; ++rc)
{
int h = mp->getHeight(rc);
int w = mp->getWidth(rc);

StaticVector<float> depthMap;
{
int width, height;

imageIO::readImage(getFileNameFromIndex(mp, rc, mvsUtils::EFileType::depthMap, scale), width, height, depthMap.getDataWritable(), imageIO::EImageColorSpace::NO_CONVERSION);

imageIO::transposeImage(width, height, depthMap.getDataWritable());
}

for(int i = 0; i < depthMap.size(); i += stepPts)
{
int x = i / h;
int y = i % h;
int x = i % w;
int y = i / w;
float depth = depthMap[i];
if(depth > 0.0f)
{
Expand Down Expand Up @@ -766,9 +745,6 @@ std::string generateTempPtsSimsFiles(std::string tmpDir, mvsUtils::MultiViewPara

imageIO::readImage(getFileNameFromIndex(mp, rc, mvsUtils::EFileType::depthMap, scale), width, height, depthMap.getDataWritable(), imageIO::EImageColorSpace::NO_CONVERSION);
imageIO::readImage(getFileNameFromIndex(mp, rc, mvsUtils::EFileType::simMap, scale), width, height, simMap.getDataWritable(), imageIO::EImageColorSpace::NO_CONVERSION);

imageIO::transposeImage(width, height, depthMap.getDataWritable());
imageIO::transposeImage(width, height, simMap.getDataWritable());
}

if(addRandomNoise)
Expand All @@ -789,54 +765,54 @@ std::string generateTempPtsSimsFiles(std::string tmpDir, mvsUtils::MultiViewPara
srand(time(nullptr));

long t1 = clock();
for(int id = 0; id < idsAlive->size(); id++)
{
int i = (*idsAlive)[(*randIdsAlive)[id]];
int x = i / h;
int y = i % h;
double depth = depthMap[i];

double sim = simMap[i];
if(depth > 0.0f)
for(int y = 0; y < h; ++y)
for(int x = 0; x < w; ++x)
{
Point3d p = mp->CArr[rc] +
int id = y * w + x;
int i = (*idsAlive)[(*randIdsAlive)[id]];
double depth = depthMap[i];

double sim = simMap[i];
if(depth > 0.0f)
{
Point3d p = mp->CArr[rc] +
(mp->iCamArr[rc] * Point2d((double)x * (double)scaleuse, (double)y * (double)scaleuse))
.normalize() *
depth;

if(id < nnoisePts)
{
double pixSize = mp->getCamPixelSize(p, rc);
int rid = rand() % (2 * noisPixSizeDistHalfThr + 1);
rid = rid - noisPixSizeDistHalfThr;
double rdepthAdd = pixSize * (double)rid;
depth = depth + rdepthAdd;
p = mp->CArr[rc] +
(mp->iCamArr[rc] * Point2d((double)x * (double)scaleuse, (double)y * (double)scaleuse))
.normalize() *
depth;
}

if(id < nnoisePts)
{
double pixSize = mp->getCamPixelSize(p, rc);
int rid = rand() % (2 * noisPixSizeDistHalfThr + 1);
rid = rid - noisPixSizeDistHalfThr;
double rdepthAdd = pixSize * (double)rid;
depth = depth + rdepthAdd;
p = mp->CArr[rc] +
(mp->iCamArr[rc] * Point2d((double)x * (double)scaleuse, (double)y * (double)scaleuse))
.normalize() *
depth;
}

pts->push_back(p);
sims->push_back(sim);
if((*minMaxDepths)[rc].x < 0.0f)
{
(*minMaxDepths)[rc].x = depth;
}
else
{
(*minMaxDepths)[rc].x = std::min((*minMaxDepths)[rc].x, depth);
}
if((*minMaxDepths)[rc].y < 0.0f)
{
(*minMaxDepths)[rc].y = depth;
}
else
{
(*minMaxDepths)[rc].y = std::max((*minMaxDepths)[rc].y, depth);
pts->push_back(p);
sims->push_back(sim);
if((*minMaxDepths)[rc].x < 0.0f)
{
(*minMaxDepths)[rc].x = depth;
}
else
{
(*minMaxDepths)[rc].x = std::min((*minMaxDepths)[rc].x, depth);
}
if((*minMaxDepths)[rc].y < 0.0f)
{
(*minMaxDepths)[rc].y = depth;
}
else
{
(*minMaxDepths)[rc].y = std::max((*minMaxDepths)[rc].y, depth);
}
}
}
}
if(mp->verbose)
mvsUtils::printfElapsedTime(t1);

Expand Down