Merge branch 'util-improvements' into 'main'

RemoveGroundPlane: More control over CC filtering

See merge request educelab/pgs-recon!45

Author: csparker247

pgs_recon/apps/reconstruct.py

@@ -273,9 +273,8 @@ def main():
                                'refinement (0 - auto, 1 - disabled)')
     opts_mvs.add_argument('--mask-value', type=int, default=0,
                           help='Label value in the image mask to ignore during '
-                               'mesh densification. By default, image masks '
-                               'are ignored during this step. Set to a value '
-                               '< 0 to ignore masks during this step.')
+                               'mesh densification. Set to a value < 0 to '
+                               'ignore masks during this step.')
     opts_mvs.add_argument('--texture-max-size', type=int, default=0,
                           help='Limits the maximum size (edge length) of the'
                                'output texture image. If set to 0 (default), '

pgs_recon/apps/remove_ground_plane.py

@@ -3,6 +3,15 @@
 import pgs_recon.utils.wavefront as wobj
 from pgs_recon.utils import geometry as geom
 
+def parse_filter_cc(arg: str):
+    arg = arg.lower()
+    if arg == 'none':
+        return 0
+    elif arg == 'largest':
+        return -1
+    else:
+        return int(arg)
+
 
 def main():
     parser = argparse.ArgumentParser()
@@ -17,6 +26,13 @@ def main():
                              'considered inliers if their distance from the '
                              'plane is less than the distance threshold. This '
                              'should be tuned based on the point density.')
+    parser.add_argument('--filter-cc', default='largest', type=parse_filter_cc,
+                        help="Filter the mesh's connected components after "
+                             "removing the ground plane:\n"
+                             " - 'none': No filtering\n"
+                             " - 'largest': keep only the largest connected component\n"
+                             " - N: remove all connected components with fewer than N faces")
+    parser.add_argument('--seed', type=int, default=0)
     args = parser.parse_args()
 
     # Load the mesh
@@ -30,11 +46,17 @@ def main():
 
     print('Fitting plane...')
     _, plane_inliers = geom.segment_plane(mesh,
-                                          dist_threshold=args.distance_threshold)
+                                          dist_threshold=args.distance_threshold,
+                                          seed=args.seed)
+    print('Removing plane...')
     geom.remove_vertices_by_index(mesh, plane_inliers)
 
-    print('Removing small connected components...')
-    geom.keep_largest_connected_component(mesh, filter_vertices=True)
+    if args.filter_cc > 0:
+        print(f'Removing connected components smaller than {args.filter_cc} faces...')
+        geom.remove_connected_components_by_size(mesh, num_faces=args.filter_cc)
+    elif args.filter_cc < 0:
+        print('Keeping largest connected component...')
+        geom.keep_largest_connected_component(mesh, filter_vertices=True)
 
     print('Saving mesh...')
     obj = geom.mesh_to_wavefront(mesh, obj)

pgs_recon/utils/geometry.py

@@ -45,7 +45,7 @@ def mesh_to_wavefront(mesh: Mesh, obj: wobj.WavefrontOBJ = None):
 
 
 def segment_plane(mesh, dist_threshold=0.1, point_samples=3, iterations=1000,
-                  prob=0.99999999):
+                  prob=0.99999999, seed=None):
     class RANSACResult:
         inliers: List[int]
         error: float
@@ -100,7 +100,7 @@ def eval_from_distance(pts: np.ndarray, plane: np.ndarray,
     best_model = np.zeros((4,))
 
     # Iterate up to some max iterations
-    rng = np.random.default_rng()
+    rng = np.random.default_rng(seed=seed)
     break_it = iterations
     for i in range(iterations):
         # Break early based on fitness/rmse
@@ -299,14 +299,25 @@ def cluster_connected_components(mesh: Mesh):
     return face_cluster, cluster_metrics
 
 
-def keep_largest_connected_component(mesh: Mesh, filter_vertices=False):
+def keep_largest_connected_component(mesh: Mesh, filter_vertices=True):
     _, metrics = cluster_connected_components(mesh)
     metrics = sorted(metrics, key=lambda m: m['area'], reverse=True)
     keep_triangles_by_mask(mesh, metrics[0]['faces'])
     if filter_vertices:
         remove_unreferenced_vertices(mesh)
 
 
+def remove_connected_components_by_size(mesh: Mesh, num_faces: int, filter_vertices=True):
+    _, metrics = cluster_connected_components(mesh)
+    faces = set()
+    for metric in metrics:
+        if len(metric['faces']) >= num_faces:
+            faces = faces.union(metric['faces'])
+    keep_triangles_by_mask(mesh, list(faces))
+    if filter_vertices:
+        remove_unreferenced_vertices(mesh)
+
+
 def remove_degenerate_faces(mesh: Mesh):
     # get list of good faces
     mask = []

setup.cfg

@@ -1,6 +1,6 @@
 [metadata]
 name = pgs-recon
-version = 1.7.5
+version = 1.7.6-alpha.0
 author = Seth Parker
 author_email = c.seth.parker@uky.edu
 description = A photogrammetry reconstruction pipeline