def local_holes_transformation(self, mesh_object, nb_holes, hole_size,write_ply = False, path = "base"):
mesh_object = copy.deepcopy(mesh_object)
reject_groups = np.random.randint(mesh_object.points.shape[0], size=nb_holes)
tree = KDTree(mesh_object.points, leaf_size=2)
complete_rejected_indices = []
for reject_index in reject_groups:
indices = tree.query_radius(mesh_object.points[reject_index].reshape(1,-1), r=hole_size)[0]
complete_rejected_indices.extend(indices.tolist())
complete_rejected_indices.append(reject_index.tolist())
delete_index = list(set(complete_rejected_indices))
new_points = np.delete(mesh_object.points, delete_index, axis = 0)
print("After deletion, nb_points remaining : {}".format(new_points.shape))
holes_mesh = base.Meshgrid(new_points)
interest_points_holes = holes_mesh.get_interest_points(sel_mod =self.sel_mod,\
sel_args = self.sel_args,neigh_flag = self.neigh_flag, neigh_args = self.neigh_args,\
k_harris = self.k_harris)
if write_ply:
ply.write_ply(path + "_all", holes_mesh.points, ['x','y','z'])
if write_ply:
ply.write_ply(path + "_int", interest_points_holes, ['x','y','z'])
return interest_points_holes
def __init__(self,path_file, sel_mod = "rel", self_args = {'thresh': 0.01},\
neigh_args = {'k':10}, neigh_flag = "k", k_harris = 0.04, graph_use = True):
pos, G = self.move_data(path_file)
if graph_use:
#The original graph (mesh of the object) should be used
self.mesh_objects =base.Meshgrid(pos, G)
else:
#Create the graph with Delauda
print("Don't use the original graph")
self.mesh_objects =base.Meshgrid(pos)
self.repeatbiliy_thresh = self.mesh_objects.diameter * self_args['thresh']
self.sel_mod = sel_mod
self.sel_args = self_args
self.neigh_args = neigh_args
self.neigh_flag = neigh_flag
self.k_harris = k_harris
def __init__(self,path_file, sel_mod = "rel", self_args = {'thresh': 0.01},\
neigh_args = {'k':10}, neigh_flag = "k", k_harris = 0.04):
data = ply.read_ply(path_file)
pos = np.stack([data['x'],data['y'], data['z']]).T #Positions: Nx3
self.mesh_objects =base.Meshgrid(pos)
self.repeatbiliy_thresh = self.mesh_objects.diameter * self_args['thresh']
self.sel_mod = sel_mod
self.sel_args = self_args
self.neigh_args = neigh_args
self.neigh_flag = neigh_flag
self.k_harris = k_harris
assert not np.all(np.isnan(pos)) and not np.all(np.isinf(pos))
def grid_subsampling_transformation(self, mesh_object, grid_size,write_ply = False, path = "base"):
mesh_object = copy.deepcopy(mesh_object)
subsampled_points = self.grid_subsampling(mesh_object.points, grid_size)
subsampled_mesh = base.Meshgrid(subsampled_points)
interest_points_original = subsampled_mesh.get_interest_points(sel_mod =self.sel_mod,\
sel_args = self.sel_args,neigh_flag = self.neigh_flag, neigh_args = self.neigh_args,\
k_harris = self.k_harris)
if write_ply:
ply.write_ply(path + "_all", subsampled_mesh.points, ['x','y','z'])
if write_ply:
ply.write_ply(path + "_int", interest_points_original, ['x','y','z'])
return interest_points_original
def test_pipeline_move(self, path_file_tmps = [],write_ply = False, keep_diameter=False):
#Used to test the non-rigid transformations
interest_points, _ = self.mesh_objects.get_interest_points(sel_mod =self.sel_mod,\
sel_args = self.sel_args,neigh_flag = self.neigh_flag, neigh_args = self.neigh_args,\
k_harris = self.k_harris, index = True)
basename = path_file_tmps[0].split("/")[-1]
basename = os.path.join("visualisation", basename)
print(basename)
if write_ply:
ply.write_ply(basename, interest_points, ['x', 'y', 'z'])
move_list = []
for path_file_tmp in path_file_tmps:
print("Path file tmp {}".format(path_file_tmp))
pos_tmp, G_tmp = self.move_data(path_file_tmp)
if keep_diameter:
mesh_object_tmp =base.Meshgrid(pos_tmp, G_tmp, diameter_set = self.mesh_objects.diameter)
else:
mesh_object_tmp =base.Meshgrid(pos_tmp, G_tmp)
assert not np.all(np.isnan(pos_tmp)) and not np.all(np.isinf(pos_tmp))
ip_moved, interest_points_index = mesh_object_tmp.get_interest_points(sel_mod =self.sel_mod,\
sel_args = self.sel_args,neigh_flag = self.neigh_flag, neigh_args = self.neigh_args,\
k_harris = self.k_harris, index = True)
basename = path_file_tmp.split("/")[-1]
basename = os.path.join("visualisation", basename)
if write_ply:
ply.write_ply(basename, ip_moved, ['x', 'y', 'z'])
interest_points_moved = self.mesh_objects.np_position_array[interest_points_index]
rep = self.calc_repeatability_reverse(interest_points, interest_points_moved,self.repeatbiliy_thresh)
print("Rep {}".format(rep))
move_list.append(rep)
return move_list
def scale_transformation(self, mesh_object, scale_factor,write_ply = False, path = "base"):
#angle = [alpha, beta, gamma]
#Rotation Transformation
#Apply Scaling
#Only work on a copy of the original
mesh_object = copy.deepcopy(mesh_object)
scaled_mesh = base.Meshgrid(scale_factor * mesh_object.points)
interest_points_scaled = scaled_mesh.get_interest_points(sel_mod =self.sel_mod,\
sel_args = self.sel_args,neigh_flag = self.neigh_flag, neigh_args = self.neigh_args,\
k_harris = self.k_harris)
if write_ply:
ply.write_ply(path + "_all", scaled_mesh.points, ['x','y','z'])
if write_ply:
ply.write_ply(path + "_int", interest_points_scaled, ['x','y','z'])
interest_points_original = interest_points_scaled / scale_factor
return interest_points_original
def roation_transformation(self, mesh_object, angle,write_ply = False, path = "base"):
#angle = [alpha, beta, gamma]
#Rotation Transformation
#Apply Rotation
#Only work on a copy of the original
mesh_object = copy.deepcopy(mesh_object)
rotations = angle
inverse_rotations = [-rotations[2],-rotations[1],-rotations[0]]
r = R.from_euler('xyz',rotations, degrees=True)
r_inverse = R.from_euler('zyx', inverse_rotations, degrees=True)
rotated_mesh = base.Meshgrid(r.apply(mesh_object.points))
interest_points = rotated_mesh.get_interest_points(sel_mod =self.sel_mod,\
sel_args = self.sel_args,neigh_flag = self.neigh_flag, neigh_args = self.neigh_args,\
k_harris = self.k_harris)
if write_ply:
ply.write_ply(path + "_all", rotated_mesh.points, ['x','y','z'])
if write_ply:
ply.write_ply(path + "_int", interest_points, ['x','y','z'])
interest_points_original = r_inverse.apply(interest_points)
return interest_points_original
def gaus_noise_transformation(self, mesh_object, noise_level, absolute_noise_factor,write_ply = False, path = "base"):
#noise level: std of the gaussian additive noise
#absolute noise factor --> to make the absolute value of the noise in the range of the size
#--> factor which is multiplied with the diameter of the object
mesh_object = copy.deepcopy(mesh_object)
noise_x = np.random.normal(0,noise_level,mesh_object.points.shape[0]) * mesh_object.width * absolute_noise_factor
noise_y = np.random.normal(0,noise_level,mesh_object.points.shape[0]) * mesh_object.height * absolute_noise_factor
noise_z = np.random.normal(0,noise_level,mesh_object.points.shape[0]) * mesh_object.depth * absolute_noise_factor
noise = np.stack([noise_x,noise_y,noise_z]).T
noised_points = mesh_object.points + noise
if write_ply:
ply.write_ply(path + "_all", noised_points, ['x','y','z'])
noise_mesh = base.Meshgrid(noised_points)
interest_points_original = noise_mesh.get_interest_points(sel_mod =self.sel_mod,\
sel_args = self.sel_args,neigh_flag = self.neigh_flag, neigh_args = self.neigh_args,\
k_harris = self.k_harris)
if write_ply:
ply.write_ply(path + "_ip", interest_points_original, ['x','y','z'])
return interest_points_original
