dense: use tower mode 4 by default

apps/DensifyPointCloud/DensifyPointCloud.cpp

@@ -164,7 +164,7 @@ bool Application::Initialize(size_t argc, LPCTSTR* argv)
         ("estimate-roi", boost::program_options::value(&OPT::nEstimateROI)->default_value(2), "estimate and set region-of-interest (0 - disabled, 1 - enabled, 2 - adaptive)")
         ("crop-to-roi", boost::program_options::value(&OPT::bCrop2ROI)->default_value(true), "crop scene using the region-of-interest")
         ("remove-dmaps", boost::program_options::value(&bRemoveDmaps)->default_value(false), "remove depth-maps after fusion")
-		("tower-mode", boost::program_options::value(&OPT::nTowerMode)->default_value(3), "add a cylinder of points in the center of ROI; scene assume to be Z-up oriented (0 - disabled, 1 - replace, 2 - append, 3 - select neighbors, <0 - force tower mode)")
+		("tower-mode", boost::program_options::value(&OPT::nTowerMode)->default_value(4), "add a cylinder of points in the center of ROI; scene assume to be Z-up oriented (0 - disabled, 1 - replace, 2 - append, 3 - select neighbors, 4 - select neighbors & append, <0 - force tower mode)")
         ;
 
 	// hidden options, allowed both on command line and

libs/MVS/Scene.cpp

@@ -935,9 +935,8 @@ bool Scene::SelectNeighborViews(uint32_t ID, IndexArr& points, unsigned nMinView
 
 void Scene::SelectNeighborViews(unsigned nMinViews, unsigned nMinPointViews, float fOptimAngle, unsigned nInsideROI)
 {
-	#ifdef DENSE_USE_OPENMP
-	#pragma omp parallel for shared(data, bAbort)
-	for (int_t ID=0; ID<(int_t)images.GetSize(); ++ID) {
+	#ifdef SCENE_USE_OPENMP
+	for (int_t ID=0; ID<(int_t)images.size(); ++ID) {
 		const IIndex idxImage((IIndex)ID);
 	#else
 	FOREACH(idxImage, images) {
@@ -1847,7 +1846,6 @@ size_t Scene::DrawCircle(PointCloud& pc, PointCloud::PointArr& outCircle, const
 			pc.pointViews.emplace_back(views);
 			pc.normals.emplace_back(n);
 			pc.colors.emplace_back(Pixel8U::YELLOW);
-			pc.pointWeights.emplace_back(PointCloud::WeightArr{1.f});
 		}
 	}
 	return outCircle.size();
@@ -2007,15 +2005,17 @@ PointCloud Scene::BuildTowerMesh(const PointCloud& origPointCloud, const Point2f
 							mesh.faces.emplace_back(v0, v2, v1);
 					}
 				}
-				if (bInverted) {
+				if (bInverted)
 					topPoints.swap(botPoints);
-				}
 			}
 		}
-		mesh.Save("towermesh_dbg.ply");
-		towerPC.Save("cylinder.ply");
-	}
+		mesh.Save("tower_mesh.ply");
+	} else
 	#endif
+	{
+		mesh.Release();
+	}
+	towerPC.Save("tower.ply");
 	return towerPC;
 }
 
@@ -2031,17 +2031,12 @@ void Scene::InitTowerScene(const int towerMode)
 	Point2f centerPoint;
 	if (!ComputeTowerCylinder(centerPoint, fRadius, fROIRadius, zMin, zMax, minCamZ, towerMode))
 		return;
-	DEBUG("Scene camera positions identified ROI as a tower, select neighbors as if ROI is a tower");
 
 	// add nTargetPoints points on each circle
 	PointCloud towerPC(BuildTowerMesh(pointcloud, centerPoint, fRadius, fROIRadius, zMin, zMax, minCamZ, false));
+	mesh.Release();
 
-	switch (ABS(towerMode)) {
-	case 1: { // replace
-		pointcloud = std::move(towerPC);
-		break;
-	}
-	case 2: { // append
+	const auto AppendPointCloud = [this](const PointCloud& towerPC) {
 		bool bHasNormal(pointcloud.normals.size() == pointcloud.GetSize());
 		bool bHasColor(pointcloud.colors.size() == pointcloud.GetSize());
 		bool bHasWeights(pointcloud.pointWeights.size() == pointcloud.GetSize());
@@ -2055,32 +2050,29 @@ void Scene::InitTowerScene(const int towerMode)
 			if (bHasWeights)
 				pointcloud.pointWeights.emplace_back(towerPC.pointWeights[idxPoint]);
 		}
+	};
+
+	switch (ABS(towerMode)) {
+	case 1: // replace
+		pointcloud = std::move(towerPC);
+		VERBOSE("Scene identified as tower-like; replace existing point-cloud with detected tower point-cloud");
 		break;
-	}
-	case 3: { // select neighbors and remove added points
+	case 2: // append
+		AppendPointCloud(towerPC);
+		VERBOSE("Scene identified as tower-like; append to existing point-cloud the detected tower point-cloud");
+		break;
+	case 3: // select neighbors
 		pointcloud.Swap(towerPC);
 		SelectNeighborViews(OPTDENSE::nMinViews, OPTDENSE::nMinViewsTrustPoint>1?OPTDENSE::nMinViewsTrustPoint:2, FD2R(OPTDENSE::fOptimAngle), OPTDENSE::nPointInsideROI);
 		pointcloud.Swap(towerPC);
+		VERBOSE("Scene identified as tower-like; only select view neighbors from detected tower point-cloud");
 		break;
-	}
-	case 4: { // select neighbors
+	case 4: // select neighbors and append tower points
 		pointcloud.Swap(towerPC);
 		SelectNeighborViews(OPTDENSE::nMinViews, OPTDENSE::nMinViewsTrustPoint>1?OPTDENSE::nMinViewsTrustPoint:2, FD2R(OPTDENSE::fOptimAngle), OPTDENSE::nPointInsideROI);
 		pointcloud.Swap(towerPC);
-		bool bHasNormal(pointcloud.normals.size() == pointcloud.GetSize());
-		bool bHasColor(pointcloud.colors.size() == pointcloud.GetSize());
-		bool bHasWeights(pointcloud.pointWeights.size() == pointcloud.GetSize());
-		FOREACH(idxPoint, towerPC.points) {
-			pointcloud.points.emplace_back(towerPC.points[idxPoint]);
-			pointcloud.pointViews.emplace_back(towerPC.pointViews[idxPoint]);
-			if (bHasNormal)
-				pointcloud.normals.emplace_back(towerPC.normals[idxPoint]);
-			if (bHasColor)
-				pointcloud.colors.emplace_back(towerPC.colors[idxPoint]);
-			if (bHasWeights)
-				pointcloud.pointWeights.emplace_back(towerPC.pointWeights[idxPoint]);
-		}
+		AppendPointCloud(towerPC);
+		VERBOSE("Scene identified as tower-like; select view neighbors from detected tower point-cloud and next append it to existing point-cloud");
 		break;
 	}
-	}
 } // InitTowerScene