Fusion experimental weights (#5696)

- add more parameters to fusion algorithm

Author: Grantim

source/MRCuda/MRCudaPointsToDistanceVolume.cpp

@@ -101,6 +101,8 @@ MRCUDA_API Expected<void> pointsToDistanceVolumeByParts( const PointCloud& cloud
         .dimensions = fromVec( params.dimensions ),
         .sigma = params.sigma,
         .minWeight = params.minWeight,
+        .invSigmaModifier = params.invSigmaModifier, 
+        .sqrtAngleWeight = params.sqrtAngleWeight
     };
 
     const auto layerSize = (size_t)params.dimensions.x * params.dimensions.y;

source/MRCuda/MRCudaPointsToDistanceVolume.cu

@@ -54,7 +54,7 @@ namespace Cuda
         };
 
         addSubTask( 0 );
-        const auto inv2SgSq = -0.5f / ( params.sigma * params.sigma );
+        const auto inv2SgSq = -params.invSigmaModifier / ( params.sigma * params.sigma );
         while ( !subtasks.empty() )
         {
             const auto n = subtasks.top();
@@ -73,7 +73,11 @@ namespace Cuda
                         const auto distSq =  lengthSq(voxelCenter - coord );
                         const auto w = exp( distSq * inv2SgSq );
                         sumWeight += w;
-                        sumDist += dot( normals[orderedPoints[i].id], voxelCenter - coord ) * w;
+                        const auto dt = dot( normals[orderedPoints[i].id], voxelCenter - coord );
+                        if ( !params.sqrtAngleWeight )
+                            sumDist += dt * w;
+                        else
+                            sumDist += copysign( sqrt( abs( dt ) ), dt ) * w;
                     }
                 }
                 continue;

source/MRCuda/MRCudaPointsToDistanceVolume.cuh

@@ -20,6 +20,14 @@ namespace Cuda
 
         /// minimum sum of influence weights from surrounding points for a triangle to appear, meaning that there shall be at least this number of points in close proximity
         float minWeight = 1;
+
+        /// coefficient used for weight calculation: e^(dist^2 * -invSigmaModifier * sigma^-2)
+        /// values: (0;inf)
+        float invSigmaModifier = 0.5f;
+
+        /// changes the way point angle affects weight, by default it is linearly increasing with dot product
+        /// if enabled - increasing as dot product^(0.5) (with respect to its sign)
+        bool sqrtAngleWeight{ false };
     };
 
     // struct similar to MR::Point

source/MRVoxels/MRPointsToDistanceVolume.cpp

@@ -21,7 +21,7 @@ FunctionVolume pointsToDistanceFunctionVolume( const PointCloud & cloud, const P
 
     return FunctionVolume
     {
-        .data = [&cloud, params, inv2SgSq = -0.5f / sqr( params.sigma ), ballRadiusSq = sqr( 3 * params.sigma ),
+        .data = [&cloud, params, inv2SgSq = -params.invSigmaModifier / sqr( params.sigma ), ballRadiusSq = sqr( 3 * params.sigma ),
             &normals = params.ptNormals ? *params.ptNormals : cloud.normals] ( const Vector3i& pos ) -> float
         {
             auto coord = Vector3f( pos ) + Vector3f::diagonal( 0.5f );
@@ -33,7 +33,11 @@ FunctionVolume pointsToDistanceFunctionVolume( const PointCloud & cloud, const P
             {
                 const auto w = std::exp( found.distSq * inv2SgSq );
                 sumWeight += w;
-                sumDist += dot( normals[found.vId], voxelCenter - p ) * w;
+                auto dt = dot( normals[found.vId], voxelCenter - p );
+                if ( !params.sqrtAngleWeight )
+                    sumDist += dt * w;
+                else
+                    sumDist += std::copysign( std::sqrt( std::abs( dt ) ), dt ) * w;
                 return Processing::Continue;
             } );
 

source/MRVoxels/MRPointsToDistanceVolume.h

@@ -18,6 +18,14 @@ struct PointsToDistanceVolumeParams : DistanceVolumeParams
     /// minimum sum of influence weights from surrounding points for a voxel to get a value, meaning that there shall be at least this number of points in close proximity
     float minWeight = 1;
 
+    /// coefficient used for weight calculation: e^(dist^2 * -invSigmaModifier * sigma^-2)
+    /// values: (0;inf)
+    float invSigmaModifier = 0.5f;
+
+    /// changes the way point angle affects weight, by default it is linearly increasing with dot product
+    /// if enabled - increasing as dot product^(0.5) (with respect to its sign)
+    bool sqrtAngleWeight{ false };
+
     /// optional input: if this pointer is set then function will use these normals instead of ones present in cloud
     const VertNormals* ptNormals = nullptr;
 };

source/MRVoxels/MRPointsToMeshFusion.cpp

@@ -52,6 +52,8 @@ Expected<Mesh> pointsToMeshFusion( const PointCloud & cloud, const PointsToMeshP
     p2vParams.dimensions = dimensions;
     p2vParams.sigma = params.sigma;
     p2vParams.minWeight = params.minWeight;
+    p2vParams.invSigmaModifier = params.invSigmaModifier;
+    p2vParams.sqrtAngleWeight = params.sqrtAngleWeight;
 
     MarchingCubesParams vmParams;
     vmParams.origin = p2vParams.origin;

source/MRVoxels/MRPointsToMeshFusion.h

@@ -19,6 +19,14 @@ struct PointsToMeshParameters
     /// minimum sum of influence weights from surrounding points for a triangle to appear, meaning that there shall be at least this number of points in close proximity
     float minWeight = 1;
 
+    /// coefficient used for weight calculation: e^(dist^2 * -invSigmaModifier * sigma^-2)
+    /// values: (0;inf)
+    float invSigmaModifier = 0.5f;
+
+    /// changes the way point angle affects weight, by default it is linearly increasing with dot product
+    /// if enabled - increasing as dot product^(0.5) (with respect to its sign)
+    bool sqrtAngleWeight{ false };
+
     /// Size of voxel in grid conversions;
     /// The user is responsible for setting some positive value here
     float voxelSize = 0;