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dense: check depth data export/import IO
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@cdcseacave
cdcseacave committed Jan 22, 2025
1 parent 695857e commit 3156675
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Showing 2 changed files with 50 additions and 44 deletions.
86 changes: 45 additions & 41 deletions libs/MVS/DepthMap.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1432,9 +1432,10 @@ void MVS::EstimatePointNormals(const ImageArr& images, PointCloud& pointcloud, i
typedef kernel_t::Vector_3 vector_t;
typedef std::pair<point_t,vector_t> PointVectorPair;
// fetch the point set
std::vector<PointVectorPair> pointvectors(pointcloud.points.GetSize());
FOREACH(i, pointcloud.points)
reinterpret_cast<Point3d&>(pointvectors[i].first) = pointcloud.points[i];
std::vector<PointVectorPair> pointvectors;
pointvectors.reserve(pointcloud.points.size());
for (const PointCloud::Point& point: pointcloud.points)
pointvectors.emplace_back(point_t(point.x, point.y, point.z), vector_t());
// estimates normals direction;
// Note: pca_estimate_normals() requires an iterator over points
// as well as property maps to access each point's position and normal.
Expand Down Expand Up @@ -1462,7 +1463,8 @@ void MVS::EstimatePointNormals(const ImageArr& images, PointCloud& pointcloud, i
PointCloud::Normal& normal = pointcloud.normals[i];
const PointCloud::Point& point = pointcloud.points[i];
const PointCloud::ViewArr& views= pointcloud.pointViews[i];
normal = reinterpret_cast<const Point3d&>(pointvectors[i].second);
const vector_t& N = pointvectors[i].second;
normal = Normal(N.x(), N.y(), N.z());
// correct normal orientation
ASSERT(!views.IsEmpty());
const Image& imageData = images[views.First()];
Expand Down Expand Up @@ -1840,8 +1842,8 @@ bool MVS::ExportDepthDataRaw(const String& fileName, const String& imageFileName
ASSERT(viewsMap.empty() || depthMap.size() == viewsMap.size());
ASSERT(depthMap.width() <= imageSize.width && depthMap.height() <= imageSize.height);

FILE* f = fopen(fileName, "wb");
if (f == NULL) {
std::unique_ptr<FILE, decltype(&fclose)> f(fopen(fileName, "wb"), &fclose);
if (!f) {
DEBUG("error: opening file '%s' for writing depth-data", fileName.c_str());
return false;
}
Expand All @@ -1862,45 +1864,46 @@ bool MVS::ExportDepthDataRaw(const String& fileName, const String& imageFileName
header.type |= HeaderDepthDataRaw::HAS_CONF;
if (!viewsMap.empty())
header.type |= HeaderDepthDataRaw::HAS_VIEWS;
fwrite(&header, sizeof(HeaderDepthDataRaw), 1, f);
fwrite(&header, sizeof(HeaderDepthDataRaw), 1, f.get());

// write image file name
STATIC_ASSERT(sizeof(String::value_type) == sizeof(char));
const String FileName(MAKE_PATH_REL(Util::getFullPath(Util::getFilePath(fileName)), Util::getFullPath(imageFileName)));
const uint16_t nFileNameSize((uint16_t)FileName.length());
fwrite(&nFileNameSize, sizeof(uint16_t), 1, f);
fwrite(FileName.c_str(), sizeof(char), nFileNameSize, f);
fwrite(&nFileNameSize, sizeof(uint16_t), 1, f.get());
fwrite(FileName.c_str(), sizeof(char), nFileNameSize, f.get());

// write neighbor IDs
STATIC_ASSERT(sizeof(uint32_t) == sizeof(IIndex));
const uint32_t nIDs(IDs.size());
fwrite(&nIDs, sizeof(IIndex), 1, f);
fwrite(IDs.data(), sizeof(IIndex), nIDs, f);
fwrite(&nIDs, sizeof(IIndex), 1, f.get());
fwrite(IDs.data(), sizeof(IIndex), nIDs, f.get());

// write pose
STATIC_ASSERT(sizeof(double) == sizeof(REAL));
fwrite(K.val, sizeof(REAL), 9, f);
fwrite(R.val, sizeof(REAL), 9, f);
fwrite(C.ptr(), sizeof(REAL), 3, f);
fwrite(K.val, sizeof(REAL), 9, f.get());
fwrite(R.val, sizeof(REAL), 9, f.get());
fwrite(C.ptr(), sizeof(REAL), 3, f.get());

// write depth-map
fwrite(depthMap.getData(), sizeof(float), depthMap.area(), f);
if (fwrite(depthMap.getData(), sizeof(float), depthMap.area(), f.get()) != static_cast<size_t>(depthMap.area())) {
DEBUG("error: writing depth-data to file '%s'", fileName.c_str());
return false;
}

// write normal-map
if ((header.type & HeaderDepthDataRaw::HAS_NORMAL) != 0)
fwrite(normalMap.getData(), sizeof(float)*3, normalMap.area(), f);
fwrite(normalMap.getData(), sizeof(float)*3, normalMap.area(), f.get());

// write confidence-map
if ((header.type & HeaderDepthDataRaw::HAS_CONF) != 0)
fwrite(confMap.getData(), sizeof(float), confMap.area(), f);
fwrite(confMap.getData(), sizeof(float), confMap.area(), f.get());

// write views-map
if ((header.type & HeaderDepthDataRaw::HAS_VIEWS) != 0)
fwrite(viewsMap.getData(), sizeof(uint8_t)*4, viewsMap.area(), f);
fwrite(viewsMap.getData(), sizeof(uint8_t)*4, viewsMap.area(), f.get());

const bool bRet(ferror(f) == 0);
fclose(f);
return bRet;
return ferror(f.get()) == 0;
} // ExportDepthDataRaw

bool MVS::ImportDepthDataRaw(const String& fileName, String& imageFileName,
Expand All @@ -1909,15 +1912,15 @@ bool MVS::ImportDepthDataRaw(const String& fileName, String& imageFileName,
Depth& dMin, Depth& dMax,
DepthMap& depthMap, NormalMap& normalMap, ConfidenceMap& confMap, ViewsMap& viewsMap, unsigned flags)
{
FILE* f = fopen(fileName, "rb");
if (f == NULL) {
std::unique_ptr<FILE, decltype(&fclose)> f(fopen(fileName, "rb"), &fclose);
if (!f) {
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 ||
if (fread(&header, sizeof(HeaderDepthDataRaw), 1, f.get()) != 1 ||
header.name != HeaderDepthDataRaw::HeaderDepthDataRawName() ||
(header.type & HeaderDepthDataRaw::HAS_DEPTH) == 0 ||
header.depthWidth <= 0 || header.depthHeight <= 0 ||
Expand All @@ -1930,23 +1933,23 @@ bool MVS::ImportDepthDataRaw(const String& fileName, String& imageFileName,
// read image file name
STATIC_ASSERT(sizeof(String::value_type) == sizeof(char));
uint16_t nFileNameSize;
fread(&nFileNameSize, sizeof(uint16_t), 1, f);
fread(&nFileNameSize, sizeof(uint16_t), 1, f.get());
imageFileName.resize(nFileNameSize);
fread(imageFileName.data(), sizeof(char), nFileNameSize, f);
fread(imageFileName.data(), sizeof(char), nFileNameSize, f.get());

// read neighbor IDs
STATIC_ASSERT(sizeof(uint32_t) == sizeof(IIndex));
uint32_t nIDs;
fread(&nIDs, sizeof(IIndex), 1, f);
fread(&nIDs, sizeof(IIndex), 1, f.get());
ASSERT(nIDs > 0 && nIDs < 256);
IDs.resize(nIDs);
fread(IDs.data(), sizeof(IIndex), nIDs, f);
fread(IDs.data(), sizeof(IIndex), nIDs, f.get());

// read pose
STATIC_ASSERT(sizeof(double) == sizeof(REAL));
fread(K.val, sizeof(REAL), 9, f);
fread(R.val, sizeof(REAL), 9, f);
fread(C.ptr(), sizeof(REAL), 3, f);
fread(K.val, sizeof(REAL), 9, f.get());
fread(R.val, sizeof(REAL), 9, f.get());
fread(C.ptr(), sizeof(REAL), 3, f.get());

// read depth-map
dMin = header.dMin;
Expand All @@ -1955,42 +1958,43 @@ bool MVS::ImportDepthDataRaw(const String& fileName, String& imageFileName,
imageSize.height = header.imageHeight;
if ((flags & HeaderDepthDataRaw::HAS_DEPTH) != 0) {
depthMap.create(header.depthHeight, header.depthWidth);
fread(depthMap.getData(), sizeof(float), depthMap.area(), f);
if (fread(depthMap.getData(), sizeof(float), depthMap.area(), f.get()) != static_cast<size_t>(depthMap.area())) {
DEBUG("error: reading depth-data from file '%s'", fileName.c_str());
return false;
}
} else {
fseek(f, sizeof(float)*header.depthWidth*header.depthHeight, SEEK_CUR);
fseek(f.get(), sizeof(float)*header.depthWidth*header.depthHeight, SEEK_CUR);
}

// read normal-map
if ((header.type & HeaderDepthDataRaw::HAS_NORMAL) != 0) {
if ((flags & HeaderDepthDataRaw::HAS_NORMAL) != 0) {
normalMap.create(header.depthHeight, header.depthWidth);
fread(normalMap.getData(), sizeof(float)*3, normalMap.area(), f);
fread(normalMap.getData(), sizeof(float)*3, normalMap.area(), f.get());
} else {
fseek(f, sizeof(float)*3*header.depthWidth*header.depthHeight, SEEK_CUR);
fseek(f.get(), sizeof(float)*3*header.depthWidth*header.depthHeight, SEEK_CUR);
}
}

// read confidence-map
if ((header.type & HeaderDepthDataRaw::HAS_CONF) != 0) {
if ((flags & HeaderDepthDataRaw::HAS_CONF) != 0) {
confMap.create(header.depthHeight, header.depthWidth);
fread(confMap.getData(), sizeof(float), confMap.area(), f);
fread(confMap.getData(), sizeof(float), confMap.area(), f.get());
} else {
fseek(f, sizeof(float)*header.depthWidth*header.depthHeight, SEEK_CUR);
fseek(f.get(), sizeof(float)*header.depthWidth*header.depthHeight, SEEK_CUR);
}
}

// read visibility-map
if ((header.type & HeaderDepthDataRaw::HAS_VIEWS) != 0) {
if ((flags & HeaderDepthDataRaw::HAS_VIEWS) != 0) {
viewsMap.create(header.depthHeight, header.depthWidth);
fread(viewsMap.getData(), sizeof(uint8_t)*4, viewsMap.area(), f);
fread(viewsMap.getData(), sizeof(uint8_t)*4, viewsMap.area(), f.get());
}
}

const bool bRet(ferror(f) == 0);
fclose(f);
return bRet;
return ferror(f.get()) == 0;
} // ImportDepthDataRaw
/*----------------------------------------------------------------*/

Expand Down
8 changes: 5 additions & 3 deletions libs/MVS/SceneDensify.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -2314,8 +2314,9 @@ void Scene::DenseReconstructionEstimate(void* pData)
}
#endif
// save compute depth-map for this image
if (!depthData.depthMap.empty())
depthData.Save(ComposeDepthFilePath(depthData.GetView().GetID(), data.nEstimationGeometricIter < 0 ? "dmap" : "geo.dmap"));
if (!depthData.depthMap.empty() &&
!depthData.Save(ComposeDepthFilePath(depthData.GetView().GetID(), data.nEstimationGeometricIter < 0 ? "dmap" : "geo.dmap")))
exit(EXIT_FAILURE);
depthData.ReleaseImages();
depthData.Release();
data.progress->operator++();
Expand Down Expand Up @@ -2411,7 +2412,8 @@ void Scene::DenseReconstructionFilter(void* pData)
}
#endif
// save filtered depth-map for this image
depthData.Save(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap"));
if (!depthData.Save(ComposeDepthFilePath(depthData.GetView().GetID(), "dmap")))
exit(EXIT_FAILURE);
depthData.DecRef();
data.progress->operator++();
break; }
Expand Down

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