def updateGeoPoints(self):
gps = self.gPoints
acs = self.attach.corners
#make sure the gpoints are left-up and right-down
dis = [[], []]
xyzs = [
gps[0].xyz, (gps[1].xyz[0], gps[0].xyz[1], gps[1].xyz[2]),
gps[1].xyz, (gps[0].xyz[0], gps[1].xyz[1], gps[0].xyz[2])
]
for i in range(2):
for xyz in xyzs:
dis[i].append(utils.pointsDistance(xyz, acs[i * 2].xyz))
xyz = xyzs[dis[i].index(min(dis[i]))]
gps[i] = objs.GeoPoint(self.scene, None, xyz)
# stick to wall boundary
localBbox2d = []
for i in range(2):
xyz = list(gps[i].xyz)
dis = utils.pointsDirectionPow(acs[i * 2].xyz, gps[i].xyz, 2)
cxz = math.sqrt(dis[0] + dis[2]) / self.attach.width
cy = math.sqrt(dis[1]) / self.scene.layoutHeight
if cxz <= 0.03:
xyz[0] = acs[i * 2].xyz[0]
xyz[2] = acs[i * 2].xyz[2]
cxz = 0
if cy <= 0.03:
xyz[1] = acs[i * 2].xyz[1]
cy = 0
gps[i] = objs.GeoPoint(self.scene, None, tuple(xyz))
coord = (cxz, cy) if i == 0 else (1 - cxz, 1 - cy)
localBbox2d.append(coord)
self.localBbox2d = tuple(localBbox2d)
def updateCorners(self):
gps = self.gPoints
cameraH = self.scene.cameraHeight
cam2ceilH = self.scene.layoutHeight - cameraH
self.corners = [
objs.GeoPoint((gps[0].xyz[0], cam2ceilH, gps[0].xyz[2])),
objs.GeoPoint((gps[1].xyz[0], cam2ceilH, gps[1].xyz[2])),
objs.GeoPoint((gps[1].xyz[0], -cameraH, gps[1].xyz[2])),
objs.GeoPoint((gps[0].xyz[0], -cameraH, gps[0].xyz[2]))
]
def updateCorners(self):
gps = self.gPoints
scene = self.scene
self.corners = [
objs.GeoPoint(scene, None, gps[0].xyz),
objs.GeoPoint(scene, None,
(gps[1].xyz[0], gps[0].xyz[1], gps[1].xyz[2])),
objs.GeoPoint(scene, None, gps[1].xyz),
objs.GeoPoint(scene, None,
(gps[0].xyz[0], gps[1].xyz[1], gps[0].xyz[2]))
]
def lnet2scene(data_path):
with open(data_path) as f:
content = f.readlines()
data = [x.strip().split() for x in content]
scene = objs.Scene()
scene.cameraHeight = 1.6
scene.layoutHeight = float(data[0][0])
if math.isnan(scene.layoutHeight):
return None
for i in range(1, 5):
if math.isnan(float(data[i][0])) or math.isnan(float(data[i][1])):
return None
xyz = (float(data[i][0]), 0, -float(data[i][1]))
scene.layoutPoints.append(objs.GeoPoint(scene, None, xyz))
scene.layoutPoints.reverse()
scene.genLayoutWallsByPoints(scene.layoutPoints)
scene.updateLayoutGeometry()
return scene
def data2scene(fp_points, height):
# cam-ceiling / cam-floor
scale = (height - 1.6) / 1.6
#layout_fp, fp_points = fit_layout(fp, scale=None, max_cor=12)
size = 512
ratio = 20/size
fp_points = fp_points.astype(float)
fp_points[0] -= size/2
fp_points[1] -= size/2
fp_points *= scale
fp_points[0] += size/2
fp_points[1] += size/2
fp_points = fp_points.astype(int)
scene = objs.Scene()
scene.cameraHeight = 1.6
scene.layoutHeight = float(height)
scene.layoutPoints = []
for i in range(fp_points.shape[1]):
fp_xy = (fp_points[:,i] - size/2) * ratio
xyz = (fp_xy[1], 0, fp_xy[0])
scene.layoutPoints.append(objs.GeoPoint(scene, None, xyz))
scene.genLayoutWallsByPoints(scene.layoutPoints)
scene.updateLayoutGeometry()
return scene
def updateCorners(self):
self.corners = []
for gp in self.gPoints:
if self.isCeiling:
xyz = (gp.xyz[0], self.height, gp.xyz[2])
else:
xyz = (gp.xyz[0], -self.height, gp.xyz[2])
corner = objs.GeoPoint(xyz)
self.corners.append(corner)
def loadLabelByJson(path, scene):
with open(path) as f:
jdata = json.load(f)
scene.cameraHeight = jdata['cameraHeight']
scene.layoutHeight = jdata['layoutHeight']
pointsDict = jdata['layoutPoints']
pointsList = pointsDict['points']
gPoints = []
for point in pointsList:
xyz = tuple(point['xyz'])
gPoint = objs.GeoPoint(xyz)
gPoints.append(gPoint)
scene.layoutPoints = gPoints
scene.genLayoutWallsByPoints(scene.layoutPoints)
scene.updateLayoutGeometry()
walls = scene.layoutWalls
if 'layoutObj2ds' in jdata:
obj2dsDict = jdata['layoutObj2ds']
obj2dsList = obj2dsDict['obj2ds']
object2ds = []
for obj2d in obj2dsList:
gp1 = objs.GeoPoint(tuple(obj2d['points'][0]))
gp2 = objs.GeoPoint(tuple(obj2d['points'][1]))
wall = walls[int(obj2d['wallIdx'])]
object2d = objs.Object2D(scene, [gp1, gp2], wall)
object2ds.append(object2d)
scene.layoutObject2d = object2ds
def pts2scene(fp_pts, height):
camera_h = cf.camera_h
scale = (height - camera_h) / camera_h
fp_pts = fp_pts.astype(float)
fp_pts -= cf.fp_size / 2
fp_pts *= scale
fp_pts = fp_pts.astype(int)
scene = objs.Scene()
scene.cameraHeight = camera_h
scene.layoutHeight = float(height)
scene.layoutPoints = []
for i in range(fp_pts.shape[1]):
fp_xy = fp_pts[:,i] * (cf.fp_meter / cf.fp_size)
xyz = (fp_xy[1], 0, fp_xy[0])
scene.layoutPoints.append(objs.GeoPoint(xyz))
scene.genLayoutWallsByPoints(scene.layoutPoints)
scene.updateLayoutGeometry()
return scene
