diff --git a/code/cpp/include/depthmap_stitcher.hpp b/code/cpp/include/depthmap_stitcher.hpp
index 0b9652dded50dcfacdee738ebd248e786f7ae393..62c2f0079ff828ec6b3dda4361bb08e4c52dd222 100644
--- a/code/cpp/include/depthmap_stitcher.hpp
+++ b/code/cpp/include/depthmap_stitcher.hpp
@@ -121,7 +121,7 @@ public:
// depth map's sub map filename regular expression
int index_digit_number = 3;
- std::string depthmap_filename_regexp = "[a-zA-Z0-9\\_]*\\_depth\\_[0-9]{3}.pfm";
+ std::string depthmap_filename_regexp = "[a-zA-Z0-9\\_]*\\_disp\\_erp\\_[0-9]{3}.pfm";
std::string rgb_filename_regexp = "[a-zA-Z0-9\\_]*\\_rgb\\_[0-9]{3}.jpg";
std::string corr_filename_regexp = "[a-zA-Z0-9\\_]*\\_corr\\_[0-9]{3}\\_[0-9]{3}.json";
// pixels corresponding filename regular expression
diff --git a/code/cpp/src/depthmap_stitcher.cpp b/code/cpp/src/depthmap_stitcher.cpp
index a1f6a2fb9cc6a01e6e3f53d41f4789a1d466ad77..28f7750060d85e7d42d6e16006f9e4a97c5eaf56 100644
--- a/code/cpp/src/depthmap_stitcher.cpp
+++ b/code/cpp/src/depthmap_stitcher.cpp
@@ -122,9 +122,9 @@ void DepthmapStitcher::load_data(const std::string& data_root_dir, const std::ve
intidx2extidx[index] = depthmap_extindex;
}
smatch m_prefixs;
- regex_search(depthmap_filename_list[0], m_prefixs, std::regex("[a-zA-Z0-9]*_rgb"));
+ regex_search(depthmap_filename_list[0], m_prefixs, std::regex("[a-zA-Z0-9\\_]*\\_disp"));
std::string prefix = m_prefixs[0].str();
- filename_prefix = prefix.substr(0, prefix.length());
+ filename_prefix = prefix.substr(0, prefix.length()-5);
LOG(INFO) << "File name prefix is " << filename_prefix;
// 1) load the pixel corresponding relationship
diff --git a/code/cpp/src/depthmap_stitcher_group.cpp b/code/cpp/src/depthmap_stitcher_group.cpp
index 96c85b2d7a6c61e9dc7b379dda23045f62f5bf19..41ed11673479fa3f54f83724b8c1aea81ddb1177 100644
--- a/code/cpp/src/depthmap_stitcher_group.cpp
+++ b/code/cpp/src/depthmap_stitcher_group.cpp
@@ -201,9 +201,12 @@ struct DepthmapStitcherGroup::ScaleResidual {
T sum_number(0);
for (int index = 0; index < grid_width_ * grid_height_; index++)
{
- sum_number += 1.0 / scale_list[index];
+ sum_number += 1.0 / (scale_list[index] + T(1e-10));
}
residual[0] = sum_number;
+// if (ceres::isinf(residual[0]) || ceres::isnan(residual[0])){
+// printf("INFINITY SCALE\n");
+// }
return true;
}
diff --git a/code/python/src/utility/blending.py b/code/python/src/utility/blending.py
index 45e348d77692994add64396fe95c85b711691e70..fcbd2085fe50566381b1f20546725b6bb124e785 100644
--- a/code/python/src/utility/blending.py
+++ b/code/python/src/utility/blending.py
@@ -33,7 +33,7 @@ class BlendIt:
# sub-image number
self.fidelity_weight = 1.0
self.inflection_point = 10 # point where slope starts to affect the radial blendweights
- self.diagonal_percentage = 30 # Percentage of diagonal until weights start decaying in frustum weights
+ self.diagonal_percentage = 48.5 # Percentage of diagonal until weights start decaying in frustum weights
self.n_subimages = n_subimages
self.blending_method = blending_method
self.padding = padding
@@ -153,23 +153,19 @@ class BlendIt:
erp_image_height, sph_modulo=False)
# process the image boundary
- erp_image_col_start = int(erp_image_col_start) if int(erp_image_col_start) > 0 else int(
- erp_image_col_start - 0.5)
- erp_image_col_stop = int(erp_image_col_stop + 0.5) if int(erp_image_col_stop) > 0 else int(
- erp_image_col_stop)
- erp_image_row_start = int(erp_image_row_start) if int(erp_image_row_start) > 0 else int(
- erp_image_row_start - 0.5)
- erp_image_row_stop = int(erp_image_row_stop + 0.5) if int(erp_image_row_stop) > 0 else int(
- erp_image_row_stop)
+ erp_image_col_start = int(erp_image_col_start + 0.5)
+ erp_image_col_stop = int(erp_image_col_stop + 0.5)
+ erp_image_row_start = int(erp_image_row_start + 0.5)
+ erp_image_row_stop = int(erp_image_row_stop + 0.5)
triangle_x_range = np.linspace(erp_image_col_start, erp_image_col_stop,
- erp_image_col_stop - erp_image_col_start + 1)
+ erp_image_col_stop - erp_image_col_start, endpoint=False)
triangle_y_range = np.linspace(erp_image_row_start, erp_image_row_stop,
- erp_image_row_stop - erp_image_row_start + 1)
+ erp_image_row_stop - erp_image_row_start, endpoint=False)
triangle_xv, triangle_yv = np.meshgrid(triangle_x_range, triangle_y_range)
# process the wrap around
triangle_xv = np.remainder(triangle_xv, erp_image_width)
- triangle_yv = np.remainder(triangle_yv, erp_image_height)
+ triangle_yv = np.clip(triangle_yv, 0, erp_image_height - 1)
# 2) sample the pixel value from tanget image
# project spherical coordinate to tangent plane
@@ -328,29 +324,6 @@ class BlendIt:
height, width = size
weight_matrix = np.zeros((height, width), dtype=np.float)
- # Line in the form x = o + td. Where o origin and d direction vector
- if height == width:
- origin = np.array([0., 0.])
- dir_vector = np.array([height - origin[0], width - origin[1]])
- top_left = (origin + self.diagonal_percentage / 100. * dir_vector).astype(np.int)
- bottom_right = (origin + (1 - self.diagonal_percentage / 100.) * dir_vector).astype(np.int)
- weight_matrix[top_left[0]:bottom_right[0], top_left[1]:bottom_right[1]] = 1.
-
- # If the image is not squared then two lines of the form above are needed displaced in X at the center of the img
- else:
- # Both lines are supposed to have slope 1. The beginning of the bottom line is the end of the top line
- # displaced (width/height) horizontally
- tophalf_diag_line_origin = np.array([0., 0.])
- tophalf_diag_line_dir = np.array([height//2, height//2]) - tophalf_diag_line_origin
-
- bottomhalf_diag_line_origin = np.array([height//2, width/height*width*0.5])
- bottomhalf_diag_line_dir = np.array([height, width]) - bottomhalf_diag_line_origin
-
- top_left = (tophalf_diag_line_origin + 2 * self.diagonal_percentage / 100. * tophalf_diag_line_dir).astype(np.int)
- bottom_right = (bottomhalf_diag_line_origin + (1 - (2 * self.diagonal_percentage / 100.)) *
- bottomhalf_diag_line_dir).astype(np.int)
- weight_matrix[top_left[0]:bottom_right[0], top_left[1]:bottom_right[1]] = 1.
-
x_list = np.linspace(0, width, width, endpoint=False)
y_list = np.linspace(0, height, height, endpoint=False)
grid_x, grid_y = np.meshgrid(x_list, y_list)
@@ -361,11 +334,20 @@ class BlendIt:
dist_to_top = grid_y
dist_to_bottom = np.abs(grid_y - height)
+ # Build pyramid of distances
total_dist = np.dstack((dist_to_right, dist_to_left, dist_to_top, dist_to_bottom))
total_dist = np.min(total_dist, axis=2)
- total_dist[np.where(weight_matrix != 0.)] = 0
total_dist = (total_dist - np.min(total_dist)) / np.ptp(total_dist)
- total_dist[np.where(weight_matrix != 0.)] = 1
+ peak_coors = np.where(total_dist == 1)
+ peak_top_left = np.array([np.min(peak_coors[0]), np.min(peak_coors[1])])
+ peak_bottom_right = np.array([np.max(peak_coors[0]), np.max(peak_coors[1])])
+
+ unit_dir = np.array([1/np.sqrt(2), 1/np.sqrt(2)])
+ top_left = (peak_top_left - 2*self.diagonal_percentage*unit_dir).astype(np.int)
+ bottom_right = (peak_bottom_right + 2*self.diagonal_percentage*unit_dir).astype(np.int)
+ total_dist[top_left[0]:bottom_right[0]+1, top_left[1]:bottom_right[1]+1] = 0
+ total_dist = (total_dist - np.min(total_dist)) / np.ptp(total_dist)
+ total_dist[top_left[0]:bottom_right[0] + 1, top_left[1]:bottom_right[1] + 1] = 1
return total_dist
def laplacian_matrix(self, n, m):