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[fuseCut] added a parameter to filter points based on number of observations #885

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Dec 1, 2020
Merged

[fuseCut] added a parameter to filter points based on number of observations #885

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928d69e
new param minVis
raphael2692 Sep 10, 2020
07b6f80
Update DelaunayGraphCut.cpp
raphael2692 Sep 10, 2020
2ce4a31
new parameter minVis
raphael2692 Sep 10, 2020
3eca2c4
post-review update
raphael2692 Sep 21, 2020
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12 changes: 12 additions & 0 deletions src/aliceVision/fuseCut/DelaunayGraphCut.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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.");
{
Expand Down Expand Up @@ -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
Expand All @@ -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");
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2 changes: 2 additions & 0 deletions src/aliceVision/fuseCut/DelaunayGraphCut.hpp
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Expand Up @@ -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;
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2 changes: 2 additions & 0 deletions src/software/pipeline/main_meshing.cpp
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Expand Up @@ -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),
Expand Down