Task06 Петр Маяцкий ИТМО

src/phg/mvs/model_min_cut/min_cut_cgal_structs.cpp

@@ -6,8 +6,12 @@ vector3d from_cgal_point(cgal_point_t p) { return vector3d(p.x(), p.y(), p.z());
 
 cgal_point_t to_cgal_point(vector3d p) { return cgal_point_t(p[0], p[1], p[2]); }
 
-vertex_info_t::vertex_info_t(unsigned int camera_id, const cv::Vec3b& color)
+vertex_info_t::vertex_info_t(unsigned int camera_id, const vector3d& point, const cv::Vec3b& color, double radius)
     : color(color)
+    , radius(radius)
+    , position_sum(point)
+    , color_sum(color[0], color[1], color[2])
+    , observations_count(1)
 {
     camera_ids.push_back(camera_id);
 }
@@ -29,7 +33,32 @@ void vertex_info_t::merge(const vertex_info_t& that)
     }
 
     std::sort(camera_ids.begin(), camera_ids.end());
+    radius = std::max(radius, that.radius);
+    position_sum += that.position_sum;
+    color_sum += that.color_sum;
+    observations_count += that.observations_count;
+    if (observations_count > 0) {
+        color = averageColor();
+    }
     for (int i = 1; i < camera_ids.size(); ++i) {
         rassert(camera_ids[i - 1] < camera_ids[i], 23781274121024);
     }
 }
+
+vector3d vertex_info_t::averagePoint(const vector3d& fallback_point) const
+{
+    if (observations_count == 0)
+        return fallback_point;
+    return position_sum / (double)observations_count;
+}
+
+cv::Vec3b vertex_info_t::averageColor() const
+{
+    if (observations_count == 0)
+        return color;
+    cv::Vec3b avg;
+    for (int c = 0; c < 3; ++c) {
+        avg[c] = cv::saturate_cast<unsigned char>(color_sum[c] / (double)observations_count);
+    }
+    return avg;
+}

src/phg/mvs/model_min_cut/min_cut_cgal_structs.h

@@ -10,16 +10,26 @@
 struct vertex_info_t {
     std::vector<unsigned int> camera_ids;
     cv::Vec3b color;
+    double radius;
+    vector3d position_sum;
+    cv::Vec3d color_sum;
+    size_t observations_count;
     size_t vertex_on_surface_id;
 
     vertex_info_t()
         : color(0, 0, 255) // red color, BGR convention (OpenCV compatible)
+        , radius(0.0)
+        , position_sum(0.0, 0.0, 0.0)
+        , color_sum(0.0, 0.0, 255.0)
+        , observations_count(0)
     {
     }
 
-    vertex_info_t(unsigned int camera_id, const cv::Vec3b& color);
+    vertex_info_t(unsigned int camera_id, const vector3d& point, const cv::Vec3b& color, double radius);
 
     void merge(const vertex_info_t& that);
+    vector3d averagePoint(const vector3d& fallback_point) const;
+    cv::Vec3b averageColor() const;
 };
 
 struct cell_info_t {

src/phg/mvs/model_min_cut/min_cut_defines.h

@@ -2,3 +2,6 @@
 
 #define LAMBDA_OUT                      1.0
 #define LAMBDA_IN                       1.0
+
+#define WEAK_SUPPORT_LAMBDA             0.25
+#define WEAK_SUPPORT_RADIUS_KOEF        2.0