1 // Copyright (c) 2018, ETH Zurich and UNC Chapel Hill. 2 // All rights reserved. 3 // 4 // Redistribution and use in source and binary forms, with or without 5 // modification, are permitted provided that the following conditions are met: 6 // 7 // * Redistributions of source code must retain the above copyright 8 // notice, this list of conditions and the following disclaimer. 9 // 10 // * Redistributions in binary form must reproduce the above copyright 11 // notice, this list of conditions and the following disclaimer in the 12 // documentation and/or other materials provided with the distribution. 13 // 14 // * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of 15 // its contributors may be used to endorse or promote products derived 16 // from this software without specific prior written permission. 17 // 18 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 19 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 20 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 21 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE 22 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 23 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 24 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 25 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 26 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 27 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 28 // POSSIBILITY OF SUCH DAMAGE. 29 // 30 // Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) 31 32 #ifndef COLMAP_SRC_MVS_MESHING_H_ 33 #define COLMAP_SRC_MVS_MESHING_H_ 34 35 #include <string> 36 37 namespace colmap { 38 namespace mvs { 39 40 struct PoissonMeshingOptions { 41 // This floating point value specifies the importance that interpolation of 42 // the point samples is given in the formulation of the screened Poisson 43 // equation. The results of the original (unscreened) Poisson Reconstruction 44 // can be obtained by setting this value to 0. 45 double point_weight = 1.0; 46 47 // This integer is the maximum depth of the tree that will be used for surface 48 // reconstruction. Running at depth d corresponds to solving on a voxel grid 49 // whose resolution is no larger than 2^d x 2^d x 2^d. Note that since the 50 // reconstructor adapts the octree to the sampling density, the specified 51 // reconstruction depth is only an upper bound. 52 int depth = 13; 53 54 // If specified, the reconstruction code assumes that the input is equipped 55 // with colors and will extrapolate the color values to the vertices of the 56 // reconstructed mesh. The floating point value specifies the relative 57 // importance of finer color estimates over lower ones. 58 double color = 32.0; 59 60 // This floating point values specifies the value for mesh trimming. The 61 // subset of the mesh with signal value less than the trim value is discarded. 62 double trim = 10.0; 63 64 // The number of threads used for the Poisson reconstruction. 65 int num_threads = -1; 66 67 bool Check() const; 68 }; 69 70 struct DelaunayMeshingOptions { 71 // Unify input points into one cell in the Delaunay triangulation that fall 72 // within a reprojected radius of the given pixels. 73 double max_proj_dist = 20.0; 74 75 // Maximum relative depth difference between input point and a vertex of an 76 // existing cell in the Delaunay triangulation, otherwise a new vertex is 77 // created in the triangulation. 78 double max_depth_dist = 0.05; 79 80 // The standard deviation of wrt. the number of images seen by each point. 81 // Increasing this value decreases the influence of points seen in few images. 82 double visibility_sigma = 3.0; 83 84 // The factor that is applied to the computed distance sigma, which is 85 // automatically computed as the 25th percentile of edge lengths. A higher 86 // value will increase the smoothness of the surface. 87 double distance_sigma_factor = 1.0; 88 89 // A higher quality regularization leads to a smoother surface. 90 double quality_regularization = 1.0; 91 92 // Filtering thresholds for outlier surface mesh faces. If the longest side of 93 // a mesh face (longest out of 3) exceeds the side lengths of all faces at a 94 // certain percentile by the given factor, then it is considered an outlier 95 // mesh face and discarded. 96 double max_side_length_factor = 25.0; 97 double max_side_length_percentile = 95.0; 98 99 // The number of threads to use for reconstruction. Default is all threads. 100 int num_threads = -1; 101 102 bool Check() const; 103 }; 104 105 // Perform Poisson surface reconstruction and return true if successful. 106 bool PoissonMeshing(const PoissonMeshingOptions& options, 107 const std::string& input_path, 108 const std::string& output_path); 109 110 111 #ifdef CGAL_ENABLED 112 113 // Delaunay meshing of sparse and dense COLMAP reconstructions. This is an 114 // implementation of the approach described in: 115 // 116 // P. Labatut, J‐P. Pons, and R. Keriven. "Robust and efficient surface 117 // reconstruction from range data". Computer graphics forum, 2009. 118 // 119 // In case of sparse input, the path should point to a sparse COLMAP 120 // reconstruction. In case of dense input, the path should point to a dense 121 // COLMAP workspace folder, which has been fully processed by the stereo and 122 // fusion pipeline. 123 void SparseDelaunayMeshing(const DelaunayMeshingOptions& options, 124 const std::string& input_path, 125 const std::string& output_path); 126 void DenseDelaunayMeshing(const DelaunayMeshingOptions& options, 127 const std::string& input_path, 128 const std::string& output_path); 129 130 #endif // CGAL_ENABLED 131 132 } // namespace mvs 133 } // namespace colmap 134 135 #endif // COLMAP_SRC_MVS_MESHING_H_ 136