Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

dense: check and resize the existed dmap file to image #1024

Open
wants to merge 2 commits into
base: develop
Choose a base branch
from
Open

dense: check and resize the existed dmap file to image #1024

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
903f349
dense: check and resize the existed dmap file to image
thomas-19 Jul 10, 2023
6700e0c
load dmap size from header
thomas-19 Jul 16, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
22 changes: 22 additions & 0 deletions libs/MVS/DepthMap.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2107,6 +2107,28 @@ bool MVS::ImportDepthDataRaw(const String& fileName, String& imageFileName,
} // ImportDepthDataRaw
/*----------------------------------------------------------------*/

bool MVS::GetDepthMapHeaderSize(const String& fileName, cv::Size& size)
Copy link
Owner

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I think this was a interesting exercise, but function ImportDepthDataRaw() already existing could be already used for this if you set flags param to 0, pls check

Copy link
Owner

@cdcseacave cdcseacave Jul 16, 2023 •
edited
Loading

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

if you want you can still let this function, but instead of duplicating the code just call ImportDepthDataRaw and return the only the sizes;

more useful will be to rename it to std::optional<std::pair<cv::Size, cv::Size>> GetDepthMapHeaderSizes(const String& fileName) and return both image and depth-map sizes

{
FILE* f = fopen(fileName, "rb");
if (f == NULL) {
DEBUG("error: opening file '%s' for reading depth-data", fileName.c_str());
return false;
}
// read header
HeaderDepthDataRaw header;
if (fread(&header, sizeof(HeaderDepthDataRaw), 1, f) != 1 ||
header.name != HeaderDepthDataRaw::HeaderDepthDataRawName() ||
(header.type & HeaderDepthDataRaw::HAS_DEPTH) == 0 ||
header.depthWidth <= 0 || header.depthHeight <= 0 ||
header.imageWidth < header.depthWidth || header.imageHeight < header.depthHeight)
{
DEBUG("error: invalid depth-data file '%s'", fileName.c_str());
return false;
}
size = cv::Size(header.depthWidth, header.depthHeight);
fclose(f);
return true;
}

// compare the estimated and ground-truth depth-maps
void MVS::CompareDepthMaps(const DepthMap& depthMap, const DepthMap& depthMapGT, uint32_t idxImage, float threshold)
Expand Down
2 changes: 2 additions & 0 deletions libs/MVS/DepthMap.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -519,6 +519,8 @@ MVS_API bool ImportDepthDataRaw(const String&, String& imageFileName,
Depth& dMin, Depth& dMax,
DepthMap&, NormalMap&, ConfidenceMap&, ViewsMap&, unsigned flags=15);

MVS_API bool GetDepthMapHeaderSize(const String& fileName, cv::Size& size);

MVS_API void CompareDepthMaps(const DepthMap& depthMap, const DepthMap& depthMapGT, uint32_t idxImage, float threshold=0.01f);
MVS_API void CompareNormalMaps(const NormalMap& normalMap, const NormalMap& normalMapGT, uint32_t idxImage);
/*----------------------------------------------------------------*/
Expand Down
13 changes: 11 additions & 2 deletions libs/MVS/SceneDensify.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,7 @@
#include "Scene.h"
#include "SceneDensify.h"
#include "PatchMatchCUDA.h"
#include "DepthMap.h"
// MRF: view selection
#include "../Math/TRWS/MRFEnergy.h"

Expand Down Expand Up @@ -1962,9 +1963,17 @@ void Scene::DenseReconstructionEstimate(void* pData)
}
// try to load already compute depth-map for this image
if (depthmapComputed && data.nFusionMode >= 0) {
const std::string depthMapName(ComposeDepthFilePath(data.scene.images[idx].ID, "dmap"));
cv::Size depthMapSize;
if (GetDepthMapHeaderSize(depthMapName, depthMapSize) && depthMapSize != data.scene.images[idx].GetSize()) {
depthData.Load(depthMapName);
DepthMap& depthMap = depthData.depthMap;
cv::resize(depthMap, depthMap, data.scene.images[idx].GetSize(), 0, 0, cv::INTER_NEAREST);
Copy link
Owner

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

resizing only the depth-map is not enough, you should resize all images inside, ex normal-map, etc

depthData.Save(depthMapName);
Copy link
Owner

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

it is ok if you use depthData to load the depth-map, but after saving it back to disk you should release it from depthData as well

and you can combine this with the next check that loads the depth-map, and if we that check is true we do not release it

}
if (OPTDENSE::nOptimize & OPTDENSE::OPTIMIZE) {
if (!depthData.Load(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"))) {
VERBOSE("error: invalid depth-map '%s'", ComposeDepthFilePath(depthData.GetView().GetID(), "dmap").c_str());
if (!depthData.Load(depthMapName)) {
Copy link
Owner

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

to make this compatible with the above change, modify the if like:

if (depthData.IsEmpty() && !depthData.Load(depthMapName)) {

VERBOSE("error: invalid depth-map '%s'", depthMapName.c_str());
exit(EXIT_FAILURE);
}
// optimize depth-map
Expand Down