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// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
//
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
//
// * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
// its contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
#include "mvs/depth_map.h"
#include "base/warp.h"
#include "util/math.h"
namespace colmap {
namespace mvs {
DepthMap::DepthMap() : DepthMap(0, 0, -1.0f, -1.0f) {}
DepthMap::DepthMap(const size_t width, const size_t height,
const float depth_min, const float depth_max)
: Mat<float>(width, height, 1),
depth_min_(depth_min),
depth_max_(depth_max) {}
DepthMap::DepthMap(const Mat<float>& mat, const float depth_min,
const float depth_max)
: Mat<float>(mat.GetWidth(), mat.GetHeight(), mat.GetDepth()),
depth_min_(depth_min),
depth_max_(depth_max) {
CHECK_EQ(mat.GetDepth(), 1);
data_ = mat.GetData();
}
void DepthMap::Rescale(const float factor) {
if (width_ * height_ == 0) {
return;
}
const size_t new_width = std::round(width_ * factor);
const size_t new_height = std::round(height_ * factor);
std::vector<float> new_data(new_width * new_height);
DownsampleImage(data_.data(), height_, width_, new_height, new_width,
new_data.data());
data_ = new_data;
width_ = new_width;
height_ = new_height;
data_.shrink_to_fit();
}
void DepthMap::Downsize(const size_t max_width, const size_t max_height) {
if (height_ <= max_height && width_ <= max_width) {
return;
}
const float factor_x = static_cast<float>(max_width) / width_;
const float factor_y = static_cast<float>(max_height) / height_;
Rescale(std::min(factor_x, factor_y));
}
Bitmap DepthMap::ToBitmap(const float min_percentile,
const float max_percentile) const {
CHECK_GT(width_, 0);
CHECK_GT(height_, 0);
Bitmap bitmap;
bitmap.Allocate(width_, height_, true);
std::vector<float> valid_depths;
valid_depths.reserve(data_.size());
for (const float depth : data_) {
if (depth > 0) {
valid_depths.push_back(depth);
}
}
if (valid_depths.empty()) {
bitmap.Fill(BitmapColor<uint8_t>(0));
return bitmap;
}
const float robust_depth_min = Percentile(valid_depths, min_percentile);
const float robust_depth_max = Percentile(valid_depths, max_percentile);
const float robust_depth_range = robust_depth_max - robust_depth_min;
for (size_t y = 0; y < height_; ++y) {
for (size_t x = 0; x < width_; ++x) {
const float depth = Get(y, x);
if (depth > 0) {
const float robust_depth =
std::max(robust_depth_min, std::min(robust_depth_max, depth));
const float gray =
(robust_depth - robust_depth_min) / robust_depth_range;
const BitmapColor<float> color(255 * JetColormap::Red(gray),
255 * JetColormap::Green(gray),
255 * JetColormap::Blue(gray));
bitmap.SetPixel(x, y, color.Cast<uint8_t>());
} else {
bitmap.SetPixel(x, y, BitmapColor<uint8_t>(0));
}
}
}
return bitmap;
}
} // namespace mvs
} // namespace colmap
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