def __init__(self, parent):
attribs = (glcanvas.WX_GL_RGBA, glcanvas.WX_GL_DOUBLEBUFFER, glcanvas.WX_GL_DEPTH_SIZE, 24)
glcanvas.GLCanvas.__init__(self, parent, -1, attribList = attribs)
self.context = glcanvas.GLContext(self)
self.setText = False
self.parent = parent
#Camera state variables
self.size = self.GetClientSize()
#self.camera = MouseSphericalCamera(self.size.x, self.size.y)
self.camera = MousePolarCamera(self.size.width, self.size.height)
#Main state variables
self.MousePos = [0, 0]
self.initiallyResized = False
random.seed()
#GUI State Variables
self.GUIState = STATE_INTRO
self.GUISubstate = -1
#Head Mesh
self.headMesh = PolyMesh()
self.headMesh.loadFile('NotreDameMedium.off')
self.headMeshLowres = PolyMesh()
self.headMeshLowres.loadFile('NotreDameLowres.off')
self.styrofoamHead = PolyMesh()
self.styrofoamHead.loadFile('StyrofoamHead.off')
self.rotAngle = 0
self.zoom = 0
self.rotCount = 0
self.timelineCount = 0
#User's face
self.userMesh = None
self.colorUserMesh = None
#ICP state variables
self.ICPTransformation = np.zeros(0)
self.ICPMutex = Lock()
self.ICPThread = None
self.bbox = self.headMesh.getBBox()
self.camera.centerOnBBox(self.bbox, theta = -math.pi/2, phi = math.pi/2)
self.zCenter = (self.bbox.zmax + self.bbox.zmin) / 2.0
self.GLinitialized = False
#GL-related events
wx.EVT_ERASE_BACKGROUND(self, self.processEraseBackgroundEvent)
wx.EVT_SIZE(self, self.processSizeEvent)
wx.EVT_PAINT(self, self.processPaintEvent)
#Mouse Events
wx.EVT_LEFT_DOWN(self, self.MouseDown)
wx.EVT_LEFT_UP(self, self.MouseUp)
wx.EVT_RIGHT_DOWN(self, self.MouseDown)
wx.EVT_RIGHT_UP(self, self.MouseUp)
wx.EVT_MIDDLE_DOWN(self, self.MouseDown)
wx.EVT_MIDDLE_UP(self, self.MouseUp)
wx.EVT_MOTION(self, self.MouseMotion)
self.initGL()
def makeMeshSlow(self):
if self.Xs.shape[2] == 0:
return
X = self.Xs[:, :, 0]
Y = self.Ys[:, :, 0]
Z = self.Zs[:, :, 0]
mesh = PolyMesh()
Vs = [[None] * self.Mask.shape[1] for i in range(self.Mask.shape[0])]
#Add vertices
for i in range(self.Mask.shape[0]):
for j in range(self.Mask.shape[1]):
if self.Mask[i, j]:
Vs[i][j] = mesh.addVertex(
np.array([X[i, j], Y[i, j], -Z[i, j]]))
#Add triangles on grid
for i in range(self.Mask.shape[0] - 1):
print i
for j in range(self.Mask.shape[1] - 1):
if self.Mask[i, j] and self.Mask[i + 1,
j] and self.Mask[i, j + 1]:
mesh.addFace([Vs[i][j], Vs[i + 1][j], Vs[i][j + 1]])
if self.Mask[i + 1][j] and self.Mask[i + 1][
j + 1] and self.Mask[i][j + 1]:
mesh.addFace(
[Vs[i + 1][j], Vs[i + 1][j + 1], Vs[i][j + 1]])
mesh.updateTris()
self.mesh = mesh
def __init__(self):
#GLUT State variables
self.GLUTwindow_height = 800
self.GLUTwindow_width = 800
self.GLUTmouse = [0, 0]
self.GLUTButton = [0, 0, 0]
self.GLUTModifiers = 0
self.keys = {}
#Camera state variables
#self.camera = Key6DOFCamera(Point3D(-0.230399, -0.0110676, -1.68559), Vector3D(0.135425, 0.0065054, 0.990766), Vector3D(-0.0479816, 0.998848, 0))
self.camera = Key6DOFCamera(Point3D(-1, 0, 0), Vector3D(1, 0, 0), Vector3D(0, 1, 0))
#Speeds of the UI controller
self.dx = 0.1
self.dTheta = 0.1
self.mesh = PolyMesh()
self.mesh.loadOffFile("meshes/homer.off")
print "NVertices = %i, NEdges = %i, NFaces = %i"%(len(self.mesh.vertices), len(self.mesh.edges), len(self.mesh.faces))
self.initGL()
def OnLoadMesh(self, evt):
dlg = wx.FileDialog(self, "Choose a file", ".", "", "OFF files (*.off)|*.off|TOFF files (*.toff)|*.toff|OBJ files (*.obj)|*.obj", wx.OPEN)
if dlg.ShowModal() == wx.ID_OK:
filename = dlg.GetFilename()
dirname = dlg.GetDirectory()
filepath = os.path.join(dirname, filename)
print dirname
self.glcanvas.mesh = PolyMesh()
print "Loading mesh %s..."%filename
self.glcanvas.mesh.loadFile(filepath)
self.glcanvas.meshCentroid = self.glcanvas.mesh.getCentroid()
self.glcanvas.meshPrincipalAxes = self.glcanvas.mesh.getPrincipalAxes()
print "Finished loading mesh"
print self.glcanvas.mesh
self.glcanvas.initMeshBBox()
self.glcanvas.Refresh()
dlg.Destroy()
return
def makeMeshSlow(self):
if self.Xs.shape[2] == 0:
return
X = self.Xs[:, :, 0]
Y = self.Ys[:, :, 0]
Z = self.Zs[:, :, 0]
mesh = PolyMesh()
Vs = [[None]*self.Mask.shape[1] for i in range(self.Mask.shape[0])]
#Add vertices
for i in range(self.Mask.shape[0]):
for j in range(self.Mask.shape[1]):
if self.Mask[i, j]:
Vs[i][j] = mesh.addVertex(np.array([X[i, j], Y[i, j], -Z[i, j]]))
#Add triangles on grid
for i in range(self.Mask.shape[0]-1):
print i
for j in range(self.Mask.shape[1]-1):
if self.Mask[i, j] and self.Mask[i+1, j] and self.Mask[i, j+1]:
mesh.addFace([Vs[i][j], Vs[i+1][j], Vs[i][j+1]])
if self.Mask[i+1][j] and self.Mask[i+1][j+1] and self.Mask[i][j+1]:
mesh.addFace([Vs[i+1][j], Vs[i+1][j+1], Vs[i][j+1]])
mesh.updateTris()
self.mesh = mesh
def __init__(self, xmeshfile, ymeshfile):
#Do fast loading bypassing the mesh data structures since geometry
#and topology are never changed
xmesh = PolyMesh()
print "Loading %s..."%xmeshfile
(xmesh.VPos, xmesh.VColors, xmesh.ITris) = loadOffFileExternal(xmeshfile)
xmesh.performDisplayUpdate(True)
ymesh = PolyMesh()
print "Loading %s..."%ymeshfile
(ymesh.VPos, ymesh.VColors, ymesh.ITris) = loadOffFileExternal(ymeshfile)
ymesh.performDisplayUpdate(True)
app = wx.App()
frame = ICPViewerFrame(None, -1, 'ICPViewer', xmesh, ymesh)
frame.Show(True)
app.MainLoop()
app.Destroy()
def OnLoadFace(self, evt):
dlg = wx.FileDialog(self, "Choose a file", ".", "",
"OBJ files (*.obj)|*.obj|OFF files (*.off)|*.off",
wx.OPEN)
if dlg.ShowModal() == wx.ID_OK:
filename = dlg.GetFilename()
dirname = dlg.GetDirectory()
filepath = os.path.join(dirname, filename)
print dirname
self.glcanvas.faceMesh = PolyMesh()
print "Loading face %s..." % filename
self.glcanvas.faceMesh.loadFile(filepath)
print "Finished loading face\n %s" % self.glcanvas.faceMesh
#print "Deleting all but largest connected component..."
#self.glcanvas.faceMesh.deleteAllButLargestConnectedComponent()
print self.glcanvas.faceMesh
self.glcanvas.bbox = self.glcanvas.faceMesh.getBBox()
print "Face BBox: %s\n" % self.glcanvas.bbox
self.glcanvas.camera.centerOnBBox(self.glcanvas.bbox,
theta=-math.pi / 2,
phi=math.pi / 2)
self.glcanvas.Refresh()
dlg.Destroy()
return
def makeMesh(self):
if self.Xs.shape[2] == 0:
return
X = self.Xs[:, :, 0]
Y = self.Ys[:, :, 0]
Z = self.Zs[:, :, 0]
mesh = PolyMesh()
#Come up with vertex indices in the mask
Mask = np.array(self.Mask, dtype=np.int32)
nV = np.sum(Mask)
Mask[self.Mask > 0] = np.arange(nV) + 1
Mask = Mask - 1
VPos = np.zeros((nV, 3))
VPos[:, 0] = X[self.Mask > 0]
VPos[:, 1] = Y[self.Mask > 0]
VPos[:, 2] = -Z[self.Mask > 0]
#Add lower right triangle
v1 = Mask[0:-1, 0:-1].flatten()
v2 = Mask[1:, 0:-1].flatten()
v3 = Mask[1:, 1:].flatten()
N = v1.size
ITris1 = np.concatenate((np.reshape(v1, [N, 1]), np.reshape(
v2, [N, 1]), np.reshape(v3, [N, 1])), 1)
#Add upper right triangle
v1 = Mask[0:-1, 0:-1].flatten()
v2 = Mask[1:, 1:].flatten()
v3 = Mask[0:-1, 1:].flatten()
N = v1.size
ITris2 = np.concatenate((np.reshape(v1, [N, 1]), np.reshape(
v2, [N, 1]), np.reshape(v3, [N, 1])), 1)
ITris = np.concatenate((ITris1, ITris2), 0)
#Only retain triangles which have all three points
ITris = ITris[np.sum(ITris == -1, 1) == 0, :]
mesh.VPos = VPos
mesh.ITris = ITris
mesh.VColors = 0.5 * np.ones(mesh.VPos.shape)
mesh.updateNormalBuffer()
mesh.VPosVBO = vbo.VBO(np.array(mesh.VPos, dtype=np.float32))
mesh.VNormalsVBO = vbo.VBO(np.array(mesh.VNormals, dtype=np.float32))
mesh.VColorsVBO = vbo.VBO(np.array(mesh.VColors, dtype=np.float32))
mesh.IndexVBO = vbo.VBO(mesh.ITris, target=GL_ELEMENT_ARRAY_BUFFER)
mesh.needsDisplayUpdate = False
self.mesh = mesh
# command line: model .off file | output EGI .off file
import sys
import os
here = os.path.dirname(os.path.realpath(__file__))
sys.path.append(here + "/../S3DGLPy")
sys.path.append(here + "/../")
from Primitives3D import *
from PolyMesh import *
import numpy as np
import matplotlib.pyplot as plt
import ShapeStatistics as shp
np.random.seed(40) #Replace 100 with some number you both agree on
cmap = plt.get_cmap('jet') # color ramp
resolution = 2
n = 10
m = PolyMesh()
m.loadOffFileExternal(sys.argv[1]) #Load a mesh
(Ps, Ns) = shp.samplePointCloud(m, 20000) #Sample 20,000 points and associated normals
sphere = getSphereMesh(1, resolution)
hist = shp.getEGIHistogram(Ps, Ns, sphere.VPos.T)
hist = hist / np.max(hist)
sphere.VColors = np.array(np.round(255.0*cmap(hist)[:, 0:3]), dtype=np.int64)
sphere.saveOffFile(sys.argv[2], output255 = True)
print hist
self.SwapBuffers()
def doPCAGLPlot(Y, C, angles, stds, prefix):
app = wx.PySimpleApp()
frame = wx.Frame(None, wx.ID_ANY, "PCA GL Canvas", DEFAULT_POS, (800, 800))
g = PCAGLCanvas(frame, Y, C, angles, stds, prefix)
frame.canvas = g
frame.Show()
app.MainLoop()
app.Destroy()
if __name__ == '__main__':
NRandSamples = 10000 #You can tweak this number
np.random.seed(100) #For repeatable results randomly sampling
m = PolyMesh()
m.loadFile("sword2.off")
(Y, Ns) = m.randomlySamplePoints(NRandSamples)
Y = Y.T
Y = Y - np.mean(Y, 0)[None, :]
C = np.array(Y)
C = C - np.min(C, 0)[None, :]
C = C/np.max(C, 0)[None, :]
pca = PCA()
Y = pca.fit_transform(Y)
Y = Y/np.max(np.abs(Y))
plt.scatter(Y[:, 0], Y[:, 1], 20, C, edgecolors='none')
if v3:
print "Updating %s to %g "%(v3.pos, v3.FMMDist)
Q.put( (v3.FMMDist, v3) )
if e.f2:
v3 = updateFMM(v1, v2, e.f2)
if v3:
print "Updating %s to %g "%(v3.pos, v3.FMMDist)
Q.put( (v3.FMMDist, v3) )
v1.FMMType = FMM_BLACK_TYPE
#Now copy over the distances to the matrix
for k in range(0, N):
D[i, k] = V[i].FMMDist
return D
if __name__ == '__main__':
mesh = PolyMesh()
v1 = mesh.addVertex(Point3D(0, 0, 0))
v2 = mesh.addVertex(Point3D(1, 0, 0))
v3 = mesh.addVertex(Point3D(1, 1, 0))
v4 = mesh.addVertex(Point3D(0, 1, 0))
v5 = mesh.addVertex(Point3D(1, 2, 0))
v6 = mesh.addVertex(Point3D(0, 2, 0))
mesh.addFace([v1, v2, v3])
mesh.addFace([v1, v3, v4])
mesh.addFace([v3, v5, v6])
mesh.addFace([v4, v3, v6])
mesh = getOctahedronMesh()
getGeodesicDistancesFMM(mesh)
mesh.saveOffFile("out.off")
def doPCAGLPlot(Y, C, angles, stds, prefix):
app = wx.PySimpleApp()
frame = wx.Frame(None, wx.ID_ANY, "PCA GL Canvas", DEFAULT_POS, (800, 800))
g = PCAGLCanvas(frame, Y, C, angles, stds, prefix)
frame.canvas = g
frame.Show()
app.MainLoop()
app.Destroy()
if __name__ == '__main__':
NRandSamples = 10000 #You can tweak this number
np.random.seed(100) #For repeatable results randomly sampling
m = PolyMesh()
m.loadFile("sword2.off")
(Y, Ns) = m.randomlySamplePoints(NRandSamples)
Y = Y.T
Y = Y - np.mean(Y, 0)[None, :]
C = np.array(Y)
C = C - np.min(C, 0)[None, :]
C = C / np.max(C, 0)[None, :]
pca = PCA()
Y = pca.fit_transform(Y)
Y = Y / np.max(np.abs(Y))
plt.scatter(Y[:, 0], Y[:, 1], 20, C, edgecolors='none')
plt.axes().set_aspect('equal', 'datalim')
glutAddSubMenu("ICP Step By Step", stepByStepMenu)
glutAddSubMenu("ICP Algorithm Full", icpMenu)
glutAttachMenu(GLUT_RIGHT_BUTTON)
glutMainLoop()
if __name__ == '__main__':
if len(sys.argv) < 3:
print "Usage: python ICPViewerGLUT.py <mesh to align file> <target mesh file> [Maximum Number of Iterations] [Output File Prefix]"
sys.exit(0)
(xmeshfile, ymeshfile) = (sys.argv[1], sys.argv[2])
MaxIters = 200
if len(argv) > 3:
MaxIters = int(argv[3])
outputPrefix = ""
if len(argv) > 4:
outputPrefix = argv[4]
xmesh = PolyMesh()
print "Loading %s..." % xmeshfile
(xmesh.VPos, xmesh.VColors, xmesh.ITris) = loadOffFileExternal(xmeshfile)
xmesh.performDisplayUpdate(True)
ymesh = PolyMesh()
print "Loading %s..." % ymeshfile
(ymesh.VPos, ymesh.VColors, ymesh.ITris) = loadOffFileExternal(ymeshfile)
ymesh.performDisplayUpdate(True)
viewer = ICPViewerCanvas(xmesh, ymesh, MaxIters, outputPrefix)
viewer.initGL()
class Viewer(object):
def __init__(self):
#GLUT State variables
self.GLUTwindow_height = 800
self.GLUTwindow_width = 800
self.GLUTmouse = [0, 0]
self.GLUTButton = [0, 0, 0]
self.GLUTModifiers = 0
self.keys = {}
#Camera state variables
#self.camera = Key6DOFCamera(Point3D(-0.230399, -0.0110676, -1.68559), Vector3D(0.135425, 0.0065054, 0.990766), Vector3D(-0.0479816, 0.998848, 0))
self.camera = Key6DOFCamera(Point3D(-1, 0, 0), Vector3D(1, 0, 0), Vector3D(0, 1, 0))
#Speeds of the UI controller
self.dx = 0.1
self.dTheta = 0.1
self.mesh = PolyMesh()
self.mesh.loadOffFile("meshes/homer.off")
print "NVertices = %i, NEdges = %i, NFaces = %i"%(len(self.mesh.vertices), len(self.mesh.edges), len(self.mesh.faces))
self.initGL()
def GLUTResize(self, w, h):
glViewport(0, 0, w, h)
self.GLUTwindow_width = w
self.GLUTwindow_height = h
glutPostRedisplay()
def GLUTRedraw(self):
#Set up projection matrix
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(180.0*self.camera.yfov/M_PI, float(self.GLUTwindow_width)/self.GLUTwindow_height, 0.01, 100.0)
#Set up modelview matrix
self.camera.gotoCameraFrame()
glClearColor(0.0, 0.0, 0.0, 0.0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
#print gluErrorString(glGetError())
glLightfv(GL_LIGHT0, GL_POSITION, [3.0, 4.0, 5.0, 0.0]);
glLightfv(GL_LIGHT1, GL_POSITION, [-3.0, -2.0, -3.0, 0.0]);
glEnable(GL_LIGHTING)
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, [0.8, 0.8, 0.8, 1.0]);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, [0.2, 0.2, 0.2, 1.0])
glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, 64)
glBegin(GL_TRIANGLES)
glVertex3f(-1, 0, 0)
glVertex3f(1, 0, 0)
glVertex3f(0.5, 1, 0)
glVertex3f(0, -1, 0)
glVertex3f(0, 1, 0)
glVertex3f(0, 0, 1)
glEnd()
self.mesh.renderGL()
glutSwapBuffers()
def handleMouseStuff(self, x, y):
y = self.GLUTwindow_height - y
self.GLUTmouse[0] = x
self.GLUTmouse[1] = y
self.GLUTmodifiers = glutGetModifiers()
def GLUTKeyboard(self, key, x, y):
self.handleMouseStuff(x, y)
self.camera.keys[key] = True
glutPostRedisplay()
def GLUTKeyboardUp(self, key, x, y):
self.handleMouseStuff(x, y)
self.camera.keys[key] = False
glutPostRedisplay()
def GLUTSpecial(self, key, x, y):
self.handleMouseStuff(x, y)
self.camera.keys[key] = True
glutPostRedisplay()
def GLUTSpecialUp(self, key, x, y):
self.handleMouseStuff(x, y)
self.camera.keys[key] = False
glutPostRedisplay()
def GLUTMouse(self, button, state, x, y):
self.handleMouseStuff(x, y)
glutPostRedisplay()
def GLUTMotion(self, x, y):
self.handleMouseStuff(x, y)
glutPostRedisplay()
def initGL(self):
glutInit('')
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH)
glutInitWindowSize(self.GLUTwindow_width, self.GLUTwindow_height)
glutInitWindowPosition(50, 50)
glutCreateWindow('Viewer')
glutReshapeFunc(self.GLUTResize)
glutDisplayFunc(self.GLUTRedraw)
glutKeyboardFunc(self.GLUTKeyboard)
glutKeyboardUpFunc(self.GLUTKeyboardUp)
glutSpecialFunc(self.GLUTSpecial)
glutSpecialUpFunc(self.GLUTSpecialUp)
glutMouseFunc(self.GLUTMouse)
glutMotionFunc(self.GLUTMotion)
glutTimerFunc(self.camera.minTimestepLen, self.camera.handleUserInput, 1)
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, [0.2, 0.2, 0.2, 1.0])
glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, GL_TRUE)
glLightfv(GL_LIGHT0, GL_DIFFUSE, [1.0, 1.0, 1.0, 1.0])
glEnable(GL_LIGHT0)
glLightfv(GL_LIGHT1, GL_DIFFUSE, [0.5, 0.5, 0.5, 1.0])
glEnable(GL_LIGHT1)
glEnable(GL_NORMALIZE)
glEnable(GL_LIGHTING)
glEnable(GL_DEPTH_TEST)
glutMainLoop()
def ReadRecurse(self,
filename='',
EMMaterials={},
OpticalMaterials={},
RadiosityMaterials={},
EMParentNode=None,
XMLNode=None):
if (len(filename) > 0):
tree = ET.parse(filename)
XMLNode = tree.getroot()
#Load in materials
if XMLNode.find('OpticalMaterials') != None:
node = XMLNode.find('OpticalMaterials')
for mat in node.getchildren():
name = mat.get("name")
args = ["ka", "kd", "ks", "kt", "emission"]
for arg in args:
if mat.get(arg) == None:
print "Error: No %s defined in optical material %s" % (
arg, name)
return
ka = [float(i) for i in mat.get("ka").split()]
kd = [float(i) for i in mat.get("ks").split()]
ks = [float(i) for i in mat.get("ka").split()]
kt = [float(i) for i in mat.get("kt").split()]
emission = [float(i) for i in mat.get("emission").split()]
OpticalMaterials[name] = OpticalMaterial(
RGB3D(ka[0], ka[1], ka[2]), RGB3D(kd[0], kd[1], kd[2]),
RGB3D(ks[0], ks[1], ks[2]), RGB3D(kt[0], kt[1], kt[2]),
RGB3D(emission[0], emission[1], emission[2]))
if XMLNode.find('EMMaterials') != None:
node = XMLNode.find('EMMaterials')
for mat in node.getchildren():
name = mat.get("name")
args = ["R", "T"]
for arg in args:
if mat.get(arg) == None:
print "Error: No %s defined in EM material %s" % (
arg, name)
return
R = float(mat.get("R"))
T = float(mat.get("T"))
EMMaterials[name] = EMMaterial(R, T)
if XMLNode.find('RadiosityMaterials') != None:
node = XMLNode.find('RadiosityMaterials')
for mat in node.getchildren():
name = mat.get("name")
#arguments are emission and reflectance
args = ["em", "p"]
for arg in args:
if mat.get(arg) == None:
print "Error: No %s defined in Radiosity material %s" % (
arg, name)
return
[R, G, B] = [float(i) for i in mat.get("em").split()]
em = RGB3D(R, G, B)
[R, G, B] = [float(i) for i in mat.get("p").split()]
p = RGB3D(R, G, B)
RadiosityMaterials[name] = RadiosityMaterial(em, p)
for currNode in XMLNode.getchildren():
EMMat = EMMaterial()
OpticalMat = OpticalMaterial()
RadiosityMat = RadiosityMaterial()
#Get materials (if specified...otherwise use defaults)
if currNode.tag in ["tri", "box", "rect", "mesh"]:
if currNode.get("em") != None:
EMMat = EMMaterials[currNode.get("em")]
if currNode.get("om") != None:
OpticalMat = OpticalMaterials[currNode.get("om")]
if currNode.get("rm") != None:
RadiosityMat = RadiosityMaterials[currNode.get("rm")]
#Get transformation matrix (if it exists...otherwise use identity matrix)
matrix = Matrix4()
if currNode.tag in ["tri", "box", "mesh", "node", "include"]:
if currNode.text != None:
m = [float(i) for i in currNode.text.split()]
if len(m) == 16:
matrix = Matrix4(m)
elif len(m) != 0:
print "Invalid transformation matrix specification %s" % (
currNode.text)
return
#Now process tag-specific elements
if currNode.tag == "tri":
args = ["P0", "P1", "P2"]
for arg in args:
if currNode.get(arg) == None:
print "Error: No %s defined in triangle" % (arg)
return
P0args = [float(i) for i in currNode.get("P0").split()]
P1args = [float(i) for i in currNode.get("P1").split()]
P2args = [float(i) for i in currNode.get("P2").split()]
P0 = Point3D(P0args[0], P0args[1], P0args[2])
P1 = Point3D(P1args[0], P1args[1], P1args[2])
P2 = Point3D(P2args[0], P2args[1], P2args[2])
mesh = PolyMesh()
[V0, V1, V2] = [
mesh.addVertex(P0),
mesh.addVertex(P1),
mesh.addVertex(P2)
]
mesh.addFace([V0, V1, V2])
sceneNode = EMNode(EMParentNode, mesh, matrix, EMMat,
OpticalMat, RadiosityMat)
EMParentNode.children.append(sceneNode)
elif currNode.tag == "box":
args = ["length", "width", "height"]
for arg in args:
if currNode.get(arg) == None:
print "Error: No %s defined in box" % (arg)
return
L = float(currNode.get("length")) #Length in z
W = float(currNode.get("width")) #Width in x
H = float(currNode.get("height")) #Height in y
C = Point3D(0, 0, 0)
stepSize = -1
#Center is an optional argument
if currNode.get("center") != None:
CPoints = [
float(i) for i in currNode.get("center").split()
] #Center of box
C = Point3D(CPoints[0], CPoints[1], CPoints[2])
if currNode.get("stepSize") != None:
stepSize = float(currNode.get("stepSize"))
mesh = getBoxMesh(L, W, H, C, stepSize)
if currNode.get("flipNormals") != None:
if int(currNode.get("flipNormals")) == 1:
mesh.flipNormals()
sceneNode = EMNode(EMParentNode, mesh, matrix, EMMat,
OpticalMat, RadiosityMat)
EMParentNode.children.append(sceneNode)
elif currNode.tag == "rect":
args = ["P0", "P1", "P2", "P3"]
for arg in args:
if currNode.get(arg) == None:
print "Error: No %s defined in rect" % (arg)
return
P0args = [float(i) for i in currNode.get("P0").split()]
P1args = [float(i) for i in currNode.get("P1").split()]
P2args = [float(i) for i in currNode.get("P2").split()]
P3args = [float(i) for i in currNode.get("P3").split()]
P0 = Point3D(P0args[0], P0args[1], P0args[2])
P1 = Point3D(P1args[0], P1args[1], P1args[2])
P2 = Point3D(P2args[0], P2args[1], P2args[2])
P3 = Point3D(P3args[0], P3args[1], P3args[2])
stepSize = -1
if currNode.get("stepSize") != None:
stepSize = float(currNode.get("stepSize"))
mesh = getRectMesh(P0, P1, P2, P3, stepSize)
sceneNode = EMNode(EMParentNode, mesh, matrix, EMMat,
OpticalMat, RadiosityMat)
EMParentNode.children.append(sceneNode)
elif currNode.tag == "mesh":
args = ["filename"]
for arg in args:
if currNode.get(arg) == None:
print "Error: No %s defined in mesh" % (arg)
return
meshfilename = currNode.get("filename")
mesh = PolyMesh()
mesh.loadFile(meshfilename)
if currNode.get("flipNormals") != None:
if int(currNode.get("flipNormals")) == 1:
mesh.flipNormals()
sceneNode = EMNode(EMParentNode, mesh, matrix, EMMat,
OpticalMat, RadiosityMat)
EMParentNode.children.append(sceneNode)
elif currNode.tag == "node":
#This is a transformation node in the graph
sceneNode = EMNode(parent=EMParentNode, transformation=matrix)
EMParentNode.children.append(sceneNode)
#Now recursively add the branch in this node
self.ReadRecurse('', EMMaterials, OpticalMaterials,
RadiosityMaterials, sceneNode, currNode)
elif currNode.tag == "include":
#Recursively include another scene file as a branch in this tree
if currNode.get("filename") == None:
print "Error: No filename defined for included scene"
return
nextfilename = currNode.get("filename")
sceneNode = EMNode(parent=EMParentNode, transformation=matrix)
EMParentNode.children.append(sceneNode)
self.ReadRecurse(nextfilename, {}, {}, {}, sceneNode, None)
elif currNode.tag == "Source":
if currNode.get("pos") == None:
print "Error: No position defined for EM Source"
return
coords = [float(i) for i in currNode.get("pos").split()]
self.Source = Point3D(coords[0], coords[1], coords[2])
elif currNode.tag == "Receiver":
if currNode.get("pos") == None:
print "Error: No position defined for EM Receiver"
return
coords = [float(i) for i in currNode.get("pos").split()]
self.Receiver = Point3D(coords[0], coords[1], coords[2])
else:
if not (currNode.tag in [
"EMMaterials", "OpticalMaterials", "RadiosityMaterials"
]):
#Checking to make sure it's a string handles the case
#where it's a comment
if type(currNode.tag) is str:
print "Unrecognized tag %s" % currNode.tag
def makeMesh(self):
if self.Xs.shape[2] == 0:
return
X = self.Xs[:, :, 0]
Y = self.Ys[:, :, 0]
Z = self.Zs[:, :, 0]
mesh = PolyMesh()
#Come up with vertex indices in the mask
Mask = np.array(self.Mask, dtype=np.int32)
nV = np.sum(Mask)
Mask[self.Mask > 0] = np.arange(nV) + 1
Mask = Mask - 1
VPos = np.zeros((nV, 3))
VPos[:, 0] = X[self.Mask > 0]
VPos[:, 1] = Y[self.Mask > 0]
VPos[:, 2] = -Z[self.Mask > 0]
#Add lower right triangle
v1 = Mask[0:-1, 0:-1].flatten()
v2 = Mask[1:, 0:-1].flatten()
v3 = Mask[1:, 1:].flatten()
N = v1.size
ITris1 = np.concatenate((np.reshape(v1, [N, 1]), np.reshape(v2, [N, 1]), np.reshape(v3, [N, 1])), 1)
#Add upper right triangle
v1 = Mask[0:-1, 0:-1].flatten()
v2 = Mask[1:, 1:].flatten()
v3 = Mask[0:-1, 1:].flatten()
N = v1.size
ITris2 = np.concatenate((np.reshape(v1, [N, 1]), np.reshape(v2, [N, 1]), np.reshape(v3, [N, 1])), 1)
ITris = np.concatenate((ITris1, ITris2), 0)
#Only retain triangles which have all three points
ITris = ITris[np.sum(ITris == -1, 1) == 0, :]
mesh.VPos = VPos
mesh.ITris = ITris
mesh.VColors = 0.5*np.ones(mesh.VPos.shape)
mesh.updateNormalBuffer()
mesh.VPosVBO = vbo.VBO(np.array(mesh.VPos, dtype=np.float32))
mesh.VNormalsVBO = vbo.VBO(np.array(mesh.VNormals, dtype=np.float32))
mesh.VColorsVBO = vbo.VBO(np.array(mesh.VColors, dtype=np.float32))
mesh.IndexVBO = vbo.VBO(mesh.ITris, target=GL_ELEMENT_ARRAY_BUFFER)
mesh.needsDisplayUpdate = False
self.mesh = mesh
def ReadRecurse(
self, filename="", EMMaterials={}, OpticalMaterials={}, RadiosityMaterials={}, EMParentNode=None, XMLNode=None
):
if len(filename) > 0:
tree = ET.parse(filename)
XMLNode = tree.getroot()
# Load in materials
if XMLNode.find("OpticalMaterials") != None:
node = XMLNode.find("OpticalMaterials")
for mat in node.getchildren():
name = mat.get("name")
args = ["ka", "kd", "ks", "kt", "emission"]
for arg in args:
if mat.get(arg) == None:
print "Error: No %s defined in optical material %s" % (arg, name)
return
ka = [float(i) for i in mat.get("ka").split()]
kd = [float(i) for i in mat.get("ks").split()]
ks = [float(i) for i in mat.get("ka").split()]
kt = [float(i) for i in mat.get("kt").split()]
emission = [float(i) for i in mat.get("emission").split()]
OpticalMaterials[name] = OpticalMaterial(
RGB3D(ka[0], ka[1], ka[2]),
RGB3D(kd[0], kd[1], kd[2]),
RGB3D(ks[0], ks[1], ks[2]),
RGB3D(kt[0], kt[1], kt[2]),
RGB3D(emission[0], emission[1], emission[2]),
)
if XMLNode.find("EMMaterials") != None:
node = XMLNode.find("EMMaterials")
for mat in node.getchildren():
name = mat.get("name")
args = ["R", "T"]
for arg in args:
if mat.get(arg) == None:
print "Error: No %s defined in EM material %s" % (arg, name)
return
R = float(mat.get("R"))
T = float(mat.get("T"))
EMMaterials[name] = EMMaterial(R, T)
if XMLNode.find("RadiosityMaterials") != None:
node = XMLNode.find("RadiosityMaterials")
for mat in node.getchildren():
name = mat.get("name")
# arguments are emission and reflectance
args = ["em", "p"]
for arg in args:
if mat.get(arg) == None:
print "Error: No %s defined in Radiosity material %s" % (arg, name)
return
[R, G, B] = [float(i) for i in mat.get("em").split()]
em = RGB3D(R, G, B)
[R, G, B] = [float(i) for i in mat.get("p").split()]
p = RGB3D(R, G, B)
RadiosityMaterials[name] = RadiosityMaterial(em, p)
for currNode in XMLNode.getchildren():
EMMat = EMMaterial()
OpticalMat = OpticalMaterial()
RadiosityMat = RadiosityMaterial()
# Get materials (if specified...otherwise use defaults)
if currNode.tag in ["tri", "box", "rect", "mesh"]:
if currNode.get("em") != None:
EMMat = EMMaterials[currNode.get("em")]
if currNode.get("om") != None:
OpticalMat = OpticalMaterials[currNode.get("om")]
if currNode.get("rm") != None:
RadiosityMat = RadiosityMaterials[currNode.get("rm")]
# Get transformation matrix (if it exists...otherwise use identity matrix)
matrix = Matrix4()
if currNode.tag in ["tri", "box", "mesh", "node", "include"]:
if currNode.text != None:
m = [float(i) for i in currNode.text.split()]
if len(m) == 16:
matrix = Matrix4(m)
elif len(m) != 0:
print "Invalid transformation matrix specification %s" % (currNode.text)
return
# Now process tag-specific elements
if currNode.tag == "tri":
args = ["P0", "P1", "P2"]
for arg in args:
if currNode.get(arg) == None:
print "Error: No %s defined in triangle" % (arg)
return
P0args = [float(i) for i in currNode.get("P0").split()]
P1args = [float(i) for i in currNode.get("P1").split()]
P2args = [float(i) for i in currNode.get("P2").split()]
P0 = Point3D(P0args[0], P0args[1], P0args[2])
P1 = Point3D(P1args[0], P1args[1], P1args[2])
P2 = Point3D(P2args[0], P2args[1], P2args[2])
mesh = PolyMesh()
[V0, V1, V2] = [mesh.addVertex(P0), mesh.addVertex(P1), mesh.addVertex(P2)]
mesh.addFace([V0, V1, V2])
sceneNode = EMNode(EMParentNode, mesh, matrix, EMMat, OpticalMat, RadiosityMat)
EMParentNode.children.append(sceneNode)
elif currNode.tag == "box":
args = ["length", "width", "height"]
for arg in args:
if currNode.get(arg) == None:
print "Error: No %s defined in box" % (arg)
return
L = float(currNode.get("length")) # Length in z
W = float(currNode.get("width")) # Width in x
H = float(currNode.get("height")) # Height in y
C = Point3D(0, 0, 0)
stepSize = -1
# Center is an optional argument
if currNode.get("center") != None:
CPoints = [float(i) for i in currNode.get("center").split()] # Center of box
C = Point3D(CPoints[0], CPoints[1], CPoints[2])
if currNode.get("stepSize") != None:
stepSize = float(currNode.get("stepSize"))
mesh = getBoxMesh(L, W, H, C, stepSize)
if currNode.get("flipNormals") != None:
if int(currNode.get("flipNormals")) == 1:
mesh.flipNormals()
sceneNode = EMNode(EMParentNode, mesh, matrix, EMMat, OpticalMat, RadiosityMat)
EMParentNode.children.append(sceneNode)
elif currNode.tag == "rect":
args = ["P0", "P1", "P2", "P3"]
for arg in args:
if currNode.get(arg) == None:
print "Error: No %s defined in rect" % (arg)
return
P0args = [float(i) for i in currNode.get("P0").split()]
P1args = [float(i) for i in currNode.get("P1").split()]
P2args = [float(i) for i in currNode.get("P2").split()]
P3args = [float(i) for i in currNode.get("P3").split()]
P0 = Point3D(P0args[0], P0args[1], P0args[2])
P1 = Point3D(P1args[0], P1args[1], P1args[2])
P2 = Point3D(P2args[0], P2args[1], P2args[2])
P3 = Point3D(P3args[0], P3args[1], P3args[2])
stepSize = -1
if currNode.get("stepSize") != None:
stepSize = float(currNode.get("stepSize"))
mesh = getRectMesh(P0, P1, P2, P3, stepSize)
sceneNode = EMNode(EMParentNode, mesh, matrix, EMMat, OpticalMat, RadiosityMat)
EMParentNode.children.append(sceneNode)
elif currNode.tag == "mesh":
args = ["filename"]
for arg in args:
if currNode.get(arg) == None:
print "Error: No %s defined in mesh" % (arg)
return
meshfilename = currNode.get("filename")
mesh = PolyMesh()
mesh.loadFile(meshfilename)
if currNode.get("flipNormals") != None:
if int(currNode.get("flipNormals")) == 1:
mesh.flipNormals()
sceneNode = EMNode(EMParentNode, mesh, matrix, EMMat, OpticalMat, RadiosityMat)
EMParentNode.children.append(sceneNode)
elif currNode.tag == "node":
# This is a transformation node in the graph
sceneNode = EMNode(parent=EMParentNode, transformation=matrix)
EMParentNode.children.append(sceneNode)
# Now recursively add the branch in this node
self.ReadRecurse("", EMMaterials, OpticalMaterials, RadiosityMaterials, sceneNode, currNode)
elif currNode.tag == "include":
# Recursively include another scene file as a branch in this tree
if currNode.get("filename") == None:
print "Error: No filename defined for included scene"
return
nextfilename = currNode.get("filename")
sceneNode = EMNode(parent=EMParentNode, transformation=matrix)
EMParentNode.children.append(sceneNode)
self.ReadRecurse(nextfilename, {}, {}, {}, sceneNode, None)
elif currNode.tag == "Source":
if currNode.get("pos") == None:
print "Error: No position defined for EM Source"
return
coords = [float(i) for i in currNode.get("pos").split()]
self.Source = Point3D(coords[0], coords[1], coords[2])
elif currNode.tag == "Receiver":
if currNode.get("pos") == None:
print "Error: No position defined for EM Receiver"
return
coords = [float(i) for i in currNode.get("pos").split()]
self.Receiver = Point3D(coords[0], coords[1], coords[2])
else:
if not (currNode.tag in ["EMMaterials", "OpticalMaterials", "RadiosityMaterials"]):
# Checking to make sure it's a string handles the case
# where it's a comment
if type(currNode.tag) is str:
print "Unrecognized tag %s" % currNode.tag
def __init__(self, parent):
attribs = (glcanvas.WX_GL_RGBA, glcanvas.WX_GL_DOUBLEBUFFER,
glcanvas.WX_GL_DEPTH_SIZE, 24)
glcanvas.GLCanvas.__init__(self, parent, -1, attribList=attribs)
self.context = glcanvas.GLContext(self)
self.setText = False
self.parent = parent
#Camera state variables
self.size = self.GetClientSize()
#self.camera = MouseSphericalCamera(self.size.x, self.size.y)
self.camera = MousePolarCamera(self.size.width, self.size.height)
#Main state variables
self.MousePos = [0, 0]
self.initiallyResized = False
random.seed()
#GUI State Variables
self.GUIState = STATE_INTRO
self.GUISubstate = -1
#Head Mesh
self.headMesh = PolyMesh()
self.headMesh.loadFile('NotreDameMedium.off')
self.headMeshLowres = PolyMesh()
self.headMeshLowres.loadFile('NotreDameLowres.off')
self.styrofoamHead = PolyMesh()
self.styrofoamHead.loadFile('StyrofoamHead.off')
self.rotAngle = 0
self.zoom = 0
self.rotCount = 0
self.timelineCount = 0
#User's face
self.userMesh = None
self.colorUserMesh = None
#ICP state variables
self.ICPTransformation = np.zeros(0)
self.ICPMutex = Lock()
self.ICPThread = None
self.bbox = self.headMesh.getBBox()
self.camera.centerOnBBox(self.bbox,
theta=-math.pi / 2,
phi=math.pi / 2)
self.zCenter = (self.bbox.zmax + self.bbox.zmin) / 2.0
self.GLinitialized = False
#GL-related events
wx.EVT_ERASE_BACKGROUND(self, self.processEraseBackgroundEvent)
wx.EVT_SIZE(self, self.processSizeEvent)
wx.EVT_PAINT(self, self.processPaintEvent)
#Mouse Events
wx.EVT_LEFT_DOWN(self, self.MouseDown)
wx.EVT_LEFT_UP(self, self.MouseUp)
wx.EVT_RIGHT_DOWN(self, self.MouseDown)
wx.EVT_RIGHT_UP(self, self.MouseUp)
wx.EVT_MIDDLE_DOWN(self, self.MouseDown)
wx.EVT_MIDDLE_UP(self, self.MouseUp)
wx.EVT_MOTION(self, self.MouseMotion)
self.initGL()
globalMenu = glutCreateMenu(self.dmenu)
glutAddSubMenu("ICP Step By Step", stepByStepMenu)
glutAddSubMenu("ICP Algorithm Full", icpMenu)
glutAttachMenu(GLUT_RIGHT_BUTTON)
glutMainLoop()
if __name__ == '__main__':
if len(sys.argv) < 3:
print "Usage: python ICPViewerGLUT.py <mesh to align file> <target mesh file> [Maximum Number of Iterations] [Output File Prefix]"
sys.exit(0)
(xmeshfile, ymeshfile) = (sys.argv[1], sys.argv[2])
MaxIters = 200
if len(argv) > 3:
MaxIters = int(argv[3])
outputPrefix = ""
if len(argv) > 4:
outputPrefix = argv[4]
xmesh = PolyMesh()
print "Loading %s..."%xmeshfile
(xmesh.VPos, xmesh.VColors, xmesh.ITris) = loadOffFileExternal(xmeshfile)
xmesh.performDisplayUpdate(True)
ymesh = PolyMesh()
print "Loading %s..."%ymeshfile
(ymesh.VPos, ymesh.VColors, ymesh.ITris) = loadOffFileExternal(ymeshfile)
ymesh.performDisplayUpdate(True)
viewer = ICPViewerCanvas(xmesh, ymesh, MaxIters, outputPrefix)
viewer.initGL()
if(correct >= NPerClass-1): #if we've found all correct shapes in class, no need to proceed, break
break
rIn += 1 #increment row counter i.e. move to next row
PR = PR/len(D) #divide all precision values by number of rows i.e find average as summation of precision values/number of precision values
return PR
#########################################################
## MAIN TESTS ##
#########################################################
#sys.exit("Not executing rest of code")
if __name__ == '__main__':
m = PolyMesh()
m.loadFile("models_off/biplane0.off") #Load a mesh
(Ps, Ns) = samplePointCloud(m, 5) #Sample 20,000 points and associated normals
exportPointCloud(Ps, Ns, "biplane.pts") #Export point cloud
#TESTING GET-SHAPE-HISTOGRAM
#histogram1 = getShapeHistogram(Ps, Ns, 21, 3)
#print histogram1
#print bins1
#plt.bar(bins1, histogram1, width=3.0/21*0.9)
#plt.show()
#TESTING GET-2D-HISTOGRAM
#DMax = 4
#NBins = 20
#NSamples = 5
elif e.numAttachedFaces() == 1:
foundNext = True
loop.append(v)
break
if not foundNext and not finished:
print "Warning: Unable to close hole"
break
print "Found hole of size %i" % len(loop)
return loop
if __name__ == '__main__':
if len(argv) < 3:
print "Usage: AddFaceBack [inputMesh] [outputMesh]"
exit(0)
mesh = PolyMesh()
mesh.loadFile(argv[1])
hole = findHole(mesh)
(Axis1, Axis2, Axis3, maxProj, minProj, axes) = mesh.getPrincipalAxes()
Centroid = mesh.getCentroid()
#Copy over the hole boundary points to a numpy array
NH = len(hole)
VH = np.zeros((NH, 3))
for i in range(NH):
thisP = hole[i].pos
VH[i, :] = np.array([thisP.x, thisP.y, thisP.z])
#Transform the mesh and the the coordinate system of the principal axes of the mesh
#where the Z coordinate can be ignored (since it's the axis of least variation)
Trans = np.eye(4)
Trans[0, 3] = -Centroid.x
import numpy as np
from PolyMesh import *
if __name__ == '__main__':
m = PolyMesh()
m.loadFile("homer.off")
m.performDisplayUpdate()
m2 = PolyMesh()
(m2.VPos, m2.VColors, m2.ITris) = loadOffFileExternal("homer.off")
m2.performDisplayUpdate(True)
print m.EdgeLines
print "\n\n\n"
print m2.EdgeLines
class MeshViewerCanvas(glcanvas.GLCanvas):
def __init__(self, parent):
attribs = (glcanvas.WX_GL_RGBA, glcanvas.WX_GL_DOUBLEBUFFER, glcanvas.WX_GL_DEPTH_SIZE, 24)
glcanvas.GLCanvas.__init__(self, parent, -1, attribList = attribs)
self.context = glcanvas.GLContext(self)
self.setText = False
self.parent = parent
#Camera state variables
self.size = self.GetClientSize()
#self.camera = MouseSphericalCamera(self.size.x, self.size.y)
self.camera = MousePolarCamera(self.size.width, self.size.height)
#Main state variables
self.MousePos = [0, 0]
self.initiallyResized = False
random.seed()
#GUI State Variables
self.GUIState = STATE_INTRO
self.GUISubstate = -1
#Head Mesh
self.headMesh = PolyMesh()
self.headMesh.loadFile('NotreDameMedium.off')
self.headMeshLowres = PolyMesh()
self.headMeshLowres.loadFile('NotreDameLowres.off')
self.styrofoamHead = PolyMesh()
self.styrofoamHead.loadFile('StyrofoamHead.off')
self.rotAngle = 0
self.zoom = 0
self.rotCount = 0
self.timelineCount = 0
#User's face
self.userMesh = None
self.colorUserMesh = None
#ICP state variables
self.ICPTransformation = np.zeros(0)
self.ICPMutex = Lock()
self.ICPThread = None
self.bbox = self.headMesh.getBBox()
self.camera.centerOnBBox(self.bbox, theta = -math.pi/2, phi = math.pi/2)
self.zCenter = (self.bbox.zmax + self.bbox.zmin) / 2.0
self.GLinitialized = False
#GL-related events
wx.EVT_ERASE_BACKGROUND(self, self.processEraseBackgroundEvent)
wx.EVT_SIZE(self, self.processSizeEvent)
wx.EVT_PAINT(self, self.processPaintEvent)
#Mouse Events
wx.EVT_LEFT_DOWN(self, self.MouseDown)
wx.EVT_LEFT_UP(self, self.MouseUp)
wx.EVT_RIGHT_DOWN(self, self.MouseDown)
wx.EVT_RIGHT_UP(self, self.MouseUp)
wx.EVT_MIDDLE_DOWN(self, self.MouseDown)
wx.EVT_MIDDLE_UP(self, self.MouseUp)
wx.EVT_MOTION(self, self.MouseMotion)
self.initGL()
def drawText(self, x, y, text, size = 1, font = GLUT_BITMAP_TIMES_ROMAN_24):
glDisable(GL_LIGHTING)
glDisable(GL_DEPTH_TEST)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluOrtho2D(0, self.size[0], 0, self.size[1])
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
glColor3f(1, 0, 0)
glRasterPos2f(x, y)
glPushMatrix()
#for i in range(len(text)):
# glutBitmapCharacter(font, ord(text[i]))
glPopMatrix()
glEnable(GL_LIGHTING)
glEnable(GL_DEPTH_TEST)
def startButtonHandler(self, evt):
print "Starting Face capture..."
if not self.setText:
self.titleText.SetLabelText("Capturing Face...")
self.setText = True
#os.popen3("SingleFace.exe") #Captures the face
process = subprocess.Popen("SingleFace", shell=True, stdout=subprocess.PIPE)
process.wait()
print "FINISHED CAPTURE"
extractMeshFiles() #Convert the captured data to a triangulated mesh
self.userMesh = LaplacianMesh()
self.userMesh.loadFile("out.off")
self.bbox = self.userMesh.getBBox()
self.camera.centerOnBBox(self.bbox, theta = -math.pi/2, phi = math.pi/2)
self.GUIState = STATE_SHOWPOINTS
self.GUISubstate = SHOWPOINTS_ZOOMIN
self.zoom = 0
self.setText = False
self.repaint()
def processEraseBackgroundEvent(self, event): pass #avoid flashing on MSW.
def processSizeEvent(self, event):
self.size = self.GetClientSize()
self.SetCurrent(self.context)
glViewport(0, 0, self.size.width, self.size.height)
if not self.initiallyResized:
#The canvas gets resized once on initialization so the camera needs
#to be updated accordingly at that point
self.camera = MousePolarCamera(self.size.width, self.size.height, )
self.camera.centerOnBBox(self.bbox, theta = -math.pi/2, phi = math.pi/2)
self.initiallyResized = True
def processPaintEvent(self, event):
dc = wx.PaintDC(self)
self.SetCurrent(self.context)
if not self.GLinitialized:
self.initGL()
self.GLinitialized = True
self.repaint()
def handleIntroState(self):
#Draw head
glTranslatef(0, 0, self.zCenter)
glRotatef(self.rotAngle, 0, 1, 0)
glTranslatef(0, 0, -self.zCenter)
self.headMesh.renderGL()
self.rotAngle = self.rotAngle + 1
self.rotAngle = self.rotAngle % 360
#self.drawText(self.size[0]/2-50, self.size[1]-40, "A Head of Our Times")
if not self.setText:
self.titleText.SetLabelText("A Head of Our Times")
self.startButton.SetLabelText("Click To Start")
self.setText = True
time.sleep(0.01)
self.Refresh()
def handleShowPointsState(self):
if self.GUISubstate == SHOWPOINTS_ZOOMIN:
if not self.setText:
self.titleText.SetLabelText("Showing 3D Face Capture Result")
glTranslatef(0, 0, self.zoom)
self.userMesh.renderGL(drawEdges = 1, drawVerts = 1, drawNormals = 0, drawFaces = 0)
glTranslatef(0, 0, -self.zoom)
self.zoom = self.zoom + 0.005
time.sleep(0.01)
if self.zoom >= abs(self.zCenter/6):
self.GUISubstate = SHOWPOINTS_ROTATELEFT
self.rotAngle = 0
self.rotCount = 0
elif self.GUISubstate == SHOWPOINTS_ROTATELEFT:
self.setText = True
glTranslatef(0, 0, self.zCenter + self.zoom)
glRotatef(self.rotAngle, 0, 1, 0)
glTranslatef(0, 0, -self.zCenter)
if self.rotCount == 0:
self.userMesh.renderGL(drawEdges = 1, drawVerts = 1, drawNormals = 0, drawFaces = 0)
else:
self.userMesh.renderGL(drawEdges = 0, drawVerts = 0, drawNormals = 0, drawFaces = 1, lightingOn = False)
self.rotAngle = self.rotAngle - 1
if self.rotAngle < -60:
self.GUISubstate = SHOWPOINTS_ROTATERIGHT
time.sleep(0.01)
elif self.GUISubstate == SHOWPOINTS_ROTATERIGHT:
glTranslatef(0, 0, self.zCenter + self.zoom)
glRotatef(self.rotAngle, 0, 1, 0)
glTranslatef(0, 0, -self.zCenter)
if self.rotCount == 0:
self.userMesh.renderGL(drawEdges = 1, drawVerts = 1, drawNormals = 0, drawFaces = 0)
else:
self.userMesh.renderGL(drawEdges = 0, drawVerts = 0, drawNormals = 0, drawFaces = 1, lightingOn = False)
self.rotAngle = self.rotAngle + 1
if self.rotAngle > 60:
self.rotCount = self.rotCount + 1
if self.rotCount >= 2:
self.GUISubstate = SHOWPOINTS_CENTER
else:
self.GUISubstate = SHOWPOINTS_ROTATELEFT
time.sleep(0.01)
elif self.GUISubstate == SHOWPOINTS_CENTER:
glTranslatef(0, 0, self.zCenter + self.zoom)
glRotatef(self.rotAngle, 0, 1, 0)
glTranslatef(0, 0, -self.zCenter)
self.userMesh.renderGL(drawEdges = 0, drawVerts = 0, drawNormals = 0, drawFaces = 1, lightingOn = False)
self.rotAngle = self.rotAngle - 1
if self.rotAngle <= 0:
self.GUISubstate = SHOWPOINTS_ZOOMOUT
time.sleep(0.01)
elif self.GUISubstate == SHOWPOINTS_ZOOMOUT:
glTranslatef(0, 0, self.zoom)
self.userMesh.renderGL(drawEdges = 0, drawVerts = 0, drawNormals = 0, drawFaces = 1, lightingOn = False)
glTranslatef(0, 0, -self.zoom)
self.zoom = self.zoom - 0.005
time.sleep(0.01)
if self.zoom <= 0:
self.GUIState = STATE_SHOWICP
self.setText = False
self.bbox = self.styrofoamHead.getBBox()
self.camera.centerOnBBox(self.bbox, theta = -math.pi/2, phi = math.pi/2)
#Get the mesh's renderbuffer ready before the thread starts so that no ICP frames are missed
self.styrofoamHead.renderGL(drawEdges = 0, drawVerts = 0, drawNormals = 0, drawFaces = 1)
self.ICPThread = ICPThread(self.userMesh, self.styrofoamHead, self, self.ICPMutex)
self.ICPThread.start()
self.drawText(self.size[0]/2-50, self.size[1]-40, "Showing Captured Face")
self.Refresh()
def transplantColors(self):
perms = np.random.permutation(len(self.userMesh.vertices))
N = min(1000, len(perms))
VX = np.zeros((N, 3))
CX = np.zeros((N, 3))
#Randomly subsample points for speed
for i in range(N):
idx = perms[i]
P = self.userMesh.vertices[idx].pos
C = self.userMesh.vertices[idx].color
VX[i, :] = np.array([P.x, P.y, P.z])
CX[i, :] = C
VX = transformPoints(self.ICPTransformation, VX)
self.titleText.SetLabelText("Placing Colors on Head")
print "Getting initial guess of point positions..."
ts, us = getInitialGuessClosestPoints(VX, self.styrofoamHead)
print "Finished initial guess of point positions"
self.colorUserMesh = transplantColorsLaplacianUsingBarycentric(self.styrofoamHead, CX, ts, us)
def handleICPState(self):
glPushMatrix()
if self.ICPTransformation.shape[0] > 0:
glMultMatrixd(self.ICPTransformation.transpose().flatten())
self.userMesh.renderGL(drawEdges = 0, drawVerts = 0, drawNormals = 0, drawFaces = 1, lightingOn = False)
glPopMatrix()
glColor3f(0.7, 0.7, 0.7)
self.styrofoamHead.renderGL(drawEdges = 0, drawVerts = 0, drawNormals = 0, drawFaces = 1, lightingOn = True)
#self.drawText(self.size[0]/2-50, self.size[1]-40, "Aligning Face with Statue...")
if not self.setText:
self.titleText.SetLabelText("Performing Rigid Alignment to Statue")
self.setText = True
if not self.ICPThread.isAlive():
print "Alignment finished"
print "Transplanting colors..."
self.transplantColors()
print "Finished Transplanting colors"
self.setText = False
self.GUIState = STATE_DECAY
self.timelineState = 0
self.bbox = self.colorUserMesh.getBBox()
self.camera.centerOnBBox(self.bbox, theta = -math.pi/2, phi = math.pi/2)
def handleDecayState(self):
if self.timelineState > 40:
#Render the head in its current form
self.colorUserMesh.renderGL(drawEdges = 0, drawVerts = 0, drawNormals = 0, drawFaces = 1, lightingOn = True)
if self.timelineState == 0:
titleFont = wx.Font(24, wx.FONTFAMILY_DECORATIVE, wx.FONTSTYLE_NORMAL, wx.FONTWEIGHT_BOLD)
self.titleText.SetFont(titleFont)
if self.timelineState <= 20:
#TODO: Include Images here
self.titleText.SetLabelText("1180 - 1223: Paris becomes capital of French Kingdom")
time.sleep(0.05)
self.Refresh()
elif self.timelineState <= 40:
self.titleText.SetLabelText("1163: Construction of Notre Dame Cathedral Begins")
time.sleep(0.05)
self.Refresh()
elif self.timelineState <= 60:
self.titleText.SetLabelText("1245 - 1258: Remodling of North transept and addition of the Virtue")
time.sleep(0.1)
elif self.timelineState < 120:
year = int(np.round((self.timelineState - 60)*(1793 - 1258)/60.0 + 1258))
self.titleText.SetLabelText("%i: Virtue in Situ on Cathedral Facade"%year)
#Dampen the colors
for v in self.colorUserMesh.vertices:
C = v.color
meanC = sum(C)/float(len(C))
v.color = [c - (c - meanC)*0.025 for c in C]
self.colorUserMesh.needsDisplayUpdate = True
else:
if self.timelineState == 121:
self.titleText.SetLabelText("1793: French Revolution and the Iconoclasm/Vandalism")
#TODO: Rotate head slightly to left, fix chunks
if self.timelineState == 120:
USINGLAPLACIAN = False
self.titleText.SetLabelText("1793: French Revolution Iconoclasm: Decapitation Imminent...")
#Make some dents
perms = np.random.permutation(len(self.colorUserMesh.vertices))
print "CHUNKING"
constraints = []
chunks = 0
for i in range(0, 20):
idx = perms[i]
V = self.colorUserMesh.vertices[idx]
if USINGLAPLACIAN:
N = V.getNormal()
#if np.abs(N.z) < 0.8:
# continue
chunks = chunks + 1
chunkSize = 0.05*np.random.rand(1)[0]
P = V.pos - chunkSize*Vector3D(0, 0, -1)
constraints.append((idx, P))
otherVerts = V.getVertexNeighbors()
for V2 in otherVerts:
P = V2.pos - chunkSize*0.5*Vector3D(0, 0, -1)
constraints.append((V2.ID, P))
else:
P = V.pos
randDiff = 0.02*np.random.rand(1)[0]
P = P - randDiff*V.getNormal()
V.pos = P
for V2 in V.getVertexNeighbors():
P = V2.pos - 0.5*randDiff*V2.getNormal()
V2.pos = P
if USINGLAPLACIAN:
self.colorUserMesh.solveVertexPositionsWithConstraints(constraints)
self.colorUserMesh.needsDisplayUpdate = True
print "There were %i chunks"%chunks
self.timelineState = self.timelineState + 1
self.Refresh()
def handleShowStretchState(self):
#TODO: Finish this
self.GUIState = STATE_SHOWSTRETCH
self.Refresh()
def repaint(self):
#Set up projection matrix
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
farDist = (self.camera.eye - self.bbox.getCenter()).Length()*2
#This is to make sure we can see on the inside
farDist = max(farDist, self.bbox.getDiagLength()*2)
nearDist = farDist/50.0
gluPerspective(180.0*self.camera.yfov/M_PI, float(self.size.x)/self.size.y, nearDist, farDist)
#Set up modelview matrix
self.camera.gotoCameraFrame()
glClearColor(0.0, 0.0, 0.0, 0.0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLightfv(GL_LIGHT0, GL_POSITION, [3.0, 4.0, 5.0, 0.0]);
glLightfv(GL_LIGHT1, GL_POSITION, [-3.0, -2.0, -3.0, 0.0]);
glEnable(GL_LIGHTING)
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, [0.8, 0.8, 0.8, 1.0]);
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, [0.2, 0.2, 0.2, 1.0])
glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, 64)
self.zCenter = (self.bbox.zmax + self.bbox.zmin) / 2.0
if self.GUIState == STATE_INTRO:
self.handleIntroState()
elif self.GUIState == STATE_SHOWPOINTS:
self.handleShowPointsState()
elif self.GUIState == STATE_SHOWICP:
self.handleICPState()
elif self.GUIState == STATE_DECAY:
self.handleDecayState()
self.SwapBuffers()
def initGL(self):
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, [0.2, 0.2, 0.2, 1.0])
glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, GL_TRUE)
glLightfv(GL_LIGHT0, GL_DIFFUSE, [1.0, 1.0, 1.0, 1.0])
glEnable(GL_LIGHT0)
glLightfv(GL_LIGHT1, GL_DIFFUSE, [0.5, 0.5, 0.5, 1.0])
glEnable(GL_LIGHT1)
glEnable(GL_NORMALIZE)
glEnable(GL_LIGHTING)
glEnable(GL_DEPTH_TEST)
def handleMouseStuff(self, x, y):
#Invert y from what the window manager says
y = self.size.height - y
self.MousePos = [x, y]
def MouseDown(self, evt):
x, y = evt.GetPosition()
self.CaptureMouse()
self.handleMouseStuff(x, y)
self.Refresh()
def MouseUp(self, evt):
x, y = evt.GetPosition()
self.handleMouseStuff(x, y)
self.ReleaseMouse()
self.Refresh()
def MouseMotion(self, evt):
x, y = evt.GetPosition()
[lastX, lastY] = self.MousePos
self.handleMouseStuff(x, y)
dX = self.MousePos[0] - lastX
dY = self.MousePos[1] - lastY
if evt.Dragging():
if evt.MiddleIsDown():
self.camera.translate(dX, dY)
elif evt.RightIsDown():
self.camera.zoom(-dY)#Want to zoom in as the mouse goes up
elif evt.LeftIsDown():
self.camera.orbitLeftRight(dX)
self.camera.orbitUpDown(dY)
self.Refresh()
print "Updating %s to %g " % (v3.pos, v3.FMMDist)
Q.put((v3.FMMDist, v3))
if e.f2:
v3 = updateFMM(v1, v2, e.f2)
if v3:
print "Updating %s to %g " % (v3.pos, v3.FMMDist)
Q.put((v3.FMMDist, v3))
v1.FMMType = FMM_BLACK_TYPE
#Now copy over the distances to the matrix
for k in range(0, N):
D[i, k] = V[i].FMMDist
return D
if __name__ == '__main__':
mesh = PolyMesh()
v1 = mesh.addVertex(Point3D(0, 0, 0))
v2 = mesh.addVertex(Point3D(1, 0, 0))
v3 = mesh.addVertex(Point3D(1, 1, 0))
v4 = mesh.addVertex(Point3D(0, 1, 0))
v5 = mesh.addVertex(Point3D(1, 2, 0))
v6 = mesh.addVertex(Point3D(0, 2, 0))
mesh.addFace([v1, v2, v3])
mesh.addFace([v1, v3, v4])
mesh.addFace([v3, v5, v6])
mesh.addFace([v4, v3, v6])
mesh = getOctahedronMesh()
getGeodesicDistancesFMM(mesh)
mesh.saveOffFile("out.off")
plt.plot(angles[:, 1], 'r')
plt.show()
return angles
if __name__ == '__main__':
if len(sys.argv) < 4:
print "Usage: python makeRotationImages.py <mesh name> <directory name> <NFrames>"
sys.exit(0)
[filename, dirName, NFrames] = [sys.argv[1], sys.argv[2], int(sys.argv[3])]
np.random.seed(100) #For repeatable results randomly sampling
if not os.path.exists(dirName):
os.mkdir(dirName)
m = PolyMesh()
m.loadFile(filename)
m.VPos = m.VPos * np.random.randn(m.VPos.shape[0], m.VPos.shape[1])
#Output rotation video
#angles = 2*np.pi*np.random.rand(NFrames, 2)
#angles = np.zeros((NFrames, 2))
#angles[:, 0] = np.linspace(0, 2*np.pi, NFrames+1)[0:NFrames]
#angles = getUniformSphereAngles(3)
[I, J] = np.meshgrid(np.linspace(0, 2 * np.pi, 30),
np.linspace(0, 2 * np.pi, 30))
angles = np.zeros((I.size, 2))
angles[:, 0] = I.flatten()
class MeshViewerCanvas(glcanvas.GLCanvas):
def __init__(self, parent):
attribs = (glcanvas.WX_GL_RGBA, glcanvas.WX_GL_DOUBLEBUFFER,
glcanvas.WX_GL_DEPTH_SIZE, 24)
glcanvas.GLCanvas.__init__(self, parent, -1, attribList=attribs)
self.context = glcanvas.GLContext(self)
self.setText = False
self.parent = parent
#Camera state variables
self.size = self.GetClientSize()
#self.camera = MouseSphericalCamera(self.size.x, self.size.y)
self.camera = MousePolarCamera(self.size.width, self.size.height)
#Main state variables
self.MousePos = [0, 0]
self.initiallyResized = False
random.seed()
#GUI State Variables
self.GUIState = STATE_INTRO
self.GUISubstate = -1
#Head Mesh
self.headMesh = PolyMesh()
self.headMesh.loadFile('NotreDameMedium.off')
self.headMeshLowres = PolyMesh()
self.headMeshLowres.loadFile('NotreDameLowres.off')
self.styrofoamHead = PolyMesh()
self.styrofoamHead.loadFile('StyrofoamHead.off')
self.rotAngle = 0
self.zoom = 0
self.rotCount = 0
self.timelineCount = 0
#User's face
self.userMesh = None
self.colorUserMesh = None
#ICP state variables
self.ICPTransformation = np.zeros(0)
self.ICPMutex = Lock()
self.ICPThread = None
self.bbox = self.headMesh.getBBox()
self.camera.centerOnBBox(self.bbox,
theta=-math.pi / 2,
phi=math.pi / 2)
self.zCenter = (self.bbox.zmax + self.bbox.zmin) / 2.0
self.GLinitialized = False
#GL-related events
wx.EVT_ERASE_BACKGROUND(self, self.processEraseBackgroundEvent)
wx.EVT_SIZE(self, self.processSizeEvent)
wx.EVT_PAINT(self, self.processPaintEvent)
#Mouse Events
wx.EVT_LEFT_DOWN(self, self.MouseDown)
wx.EVT_LEFT_UP(self, self.MouseUp)
wx.EVT_RIGHT_DOWN(self, self.MouseDown)
wx.EVT_RIGHT_UP(self, self.MouseUp)
wx.EVT_MIDDLE_DOWN(self, self.MouseDown)
wx.EVT_MIDDLE_UP(self, self.MouseUp)
wx.EVT_MOTION(self, self.MouseMotion)
self.initGL()
def drawText(self, x, y, text, size=1, font=GLUT_BITMAP_TIMES_ROMAN_24):
glDisable(GL_LIGHTING)
glDisable(GL_DEPTH_TEST)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluOrtho2D(0, self.size[0], 0, self.size[1])
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
glColor3f(1, 0, 0)
glRasterPos2f(x, y)
glPushMatrix()
#for i in range(len(text)):
# glutBitmapCharacter(font, ord(text[i]))
glPopMatrix()
glEnable(GL_LIGHTING)
glEnable(GL_DEPTH_TEST)
def startButtonHandler(self, evt):
print "Starting Face capture..."
if not self.setText:
self.titleText.SetLabelText("Capturing Face...")
self.setText = True
#os.popen3("SingleFace.exe") #Captures the face
process = subprocess.Popen("SingleFace",
shell=True,
stdout=subprocess.PIPE)
process.wait()
print "FINISHED CAPTURE"
extractMeshFiles() #Convert the captured data to a triangulated mesh
self.userMesh = LaplacianMesh()
self.userMesh.loadFile("out.off")
self.bbox = self.userMesh.getBBox()
self.camera.centerOnBBox(self.bbox,
theta=-math.pi / 2,
phi=math.pi / 2)
self.GUIState = STATE_SHOWPOINTS
self.GUISubstate = SHOWPOINTS_ZOOMIN
self.zoom = 0
self.setText = False
self.repaint()
def processEraseBackgroundEvent(self, event):
pass #avoid flashing on MSW.
def processSizeEvent(self, event):
self.size = self.GetClientSize()
self.SetCurrent(self.context)
glViewport(0, 0, self.size.width, self.size.height)
if not self.initiallyResized:
#The canvas gets resized once on initialization so the camera needs
#to be updated accordingly at that point
self.camera = MousePolarCamera(
self.size.width,
self.size.height,
)
self.camera.centerOnBBox(self.bbox,
theta=-math.pi / 2,
phi=math.pi / 2)
self.initiallyResized = True
def processPaintEvent(self, event):
dc = wx.PaintDC(self)
self.SetCurrent(self.context)
if not self.GLinitialized:
self.initGL()
self.GLinitialized = True
self.repaint()
def handleIntroState(self):
#Draw head
glTranslatef(0, 0, self.zCenter)
glRotatef(self.rotAngle, 0, 1, 0)
glTranslatef(0, 0, -self.zCenter)
self.headMesh.renderGL()
self.rotAngle = self.rotAngle + 1
self.rotAngle = self.rotAngle % 360
#self.drawText(self.size[0]/2-50, self.size[1]-40, "A Head of Our Times")
if not self.setText:
self.titleText.SetLabelText("A Head of Our Times")
self.startButton.SetLabelText("Click To Start")
self.setText = True
time.sleep(0.01)
self.Refresh()
def handleShowPointsState(self):
if self.GUISubstate == SHOWPOINTS_ZOOMIN:
if not self.setText:
self.titleText.SetLabelText("Showing 3D Face Capture Result")
glTranslatef(0, 0, self.zoom)
self.userMesh.renderGL(drawEdges=1,
drawVerts=1,
drawNormals=0,
drawFaces=0)
glTranslatef(0, 0, -self.zoom)
self.zoom = self.zoom + 0.005
time.sleep(0.01)
if self.zoom >= abs(self.zCenter / 6):
self.GUISubstate = SHOWPOINTS_ROTATELEFT
self.rotAngle = 0
self.rotCount = 0
elif self.GUISubstate == SHOWPOINTS_ROTATELEFT:
self.setText = True
glTranslatef(0, 0, self.zCenter + self.zoom)
glRotatef(self.rotAngle, 0, 1, 0)
glTranslatef(0, 0, -self.zCenter)
if self.rotCount == 0:
self.userMesh.renderGL(drawEdges=1,
drawVerts=1,
drawNormals=0,
drawFaces=0)
else:
self.userMesh.renderGL(drawEdges=0,
drawVerts=0,
drawNormals=0,
drawFaces=1,
lightingOn=False)
self.rotAngle = self.rotAngle - 1
if self.rotAngle < -60:
self.GUISubstate = SHOWPOINTS_ROTATERIGHT
time.sleep(0.01)
elif self.GUISubstate == SHOWPOINTS_ROTATERIGHT:
glTranslatef(0, 0, self.zCenter + self.zoom)
glRotatef(self.rotAngle, 0, 1, 0)
glTranslatef(0, 0, -self.zCenter)
if self.rotCount == 0:
self.userMesh.renderGL(drawEdges=1,
drawVerts=1,
drawNormals=0,
drawFaces=0)
else:
self.userMesh.renderGL(drawEdges=0,
drawVerts=0,
drawNormals=0,
drawFaces=1,
lightingOn=False)
self.rotAngle = self.rotAngle + 1
if self.rotAngle > 60:
self.rotCount = self.rotCount + 1
if self.rotCount >= 2:
self.GUISubstate = SHOWPOINTS_CENTER
else:
self.GUISubstate = SHOWPOINTS_ROTATELEFT
time.sleep(0.01)
elif self.GUISubstate == SHOWPOINTS_CENTER:
glTranslatef(0, 0, self.zCenter + self.zoom)
glRotatef(self.rotAngle, 0, 1, 0)
glTranslatef(0, 0, -self.zCenter)
self.userMesh.renderGL(drawEdges=0,
drawVerts=0,
drawNormals=0,
drawFaces=1,
lightingOn=False)
self.rotAngle = self.rotAngle - 1
if self.rotAngle <= 0:
self.GUISubstate = SHOWPOINTS_ZOOMOUT
time.sleep(0.01)
elif self.GUISubstate == SHOWPOINTS_ZOOMOUT:
glTranslatef(0, 0, self.zoom)
self.userMesh.renderGL(drawEdges=0,
drawVerts=0,
drawNormals=0,
drawFaces=1,
lightingOn=False)
glTranslatef(0, 0, -self.zoom)
self.zoom = self.zoom - 0.005
time.sleep(0.01)
if self.zoom <= 0:
self.GUIState = STATE_SHOWICP
self.setText = False
self.bbox = self.styrofoamHead.getBBox()
self.camera.centerOnBBox(self.bbox,
theta=-math.pi / 2,
phi=math.pi / 2)
#Get the mesh's renderbuffer ready before the thread starts so that no ICP frames are missed
self.styrofoamHead.renderGL(drawEdges=0,
drawVerts=0,
drawNormals=0,
drawFaces=1)
self.ICPThread = ICPThread(self.userMesh, self.styrofoamHead,
self, self.ICPMutex)
self.ICPThread.start()
self.drawText(self.size[0] / 2 - 50, self.size[1] - 40,
"Showing Captured Face")
self.Refresh()
def transplantColors(self):
perms = np.random.permutation(len(self.userMesh.vertices))
N = min(1000, len(perms))
VX = np.zeros((N, 3))
CX = np.zeros((N, 3))
#Randomly subsample points for speed
for i in range(N):
idx = perms[i]
P = self.userMesh.vertices[idx].pos
C = self.userMesh.vertices[idx].color
VX[i, :] = np.array([P.x, P.y, P.z])
CX[i, :] = C
VX = transformPoints(self.ICPTransformation, VX)
self.titleText.SetLabelText("Placing Colors on Head")
print "Getting initial guess of point positions..."
ts, us = getInitialGuessClosestPoints(VX, self.styrofoamHead)
print "Finished initial guess of point positions"
self.colorUserMesh = transplantColorsLaplacianUsingBarycentric(
self.styrofoamHead, CX, ts, us)
def handleICPState(self):
glPushMatrix()
if self.ICPTransformation.shape[0] > 0:
glMultMatrixd(self.ICPTransformation.transpose().flatten())
self.userMesh.renderGL(drawEdges=0,
drawVerts=0,
drawNormals=0,
drawFaces=1,
lightingOn=False)
glPopMatrix()
glColor3f(0.7, 0.7, 0.7)
self.styrofoamHead.renderGL(drawEdges=0,
drawVerts=0,
drawNormals=0,
drawFaces=1,
lightingOn=True)
#self.drawText(self.size[0]/2-50, self.size[1]-40, "Aligning Face with Statue...")
if not self.setText:
self.titleText.SetLabelText("Performing Rigid Alignment to Statue")
self.setText = True
if not self.ICPThread.isAlive():
print "Alignment finished"
print "Transplanting colors..."
self.transplantColors()
print "Finished Transplanting colors"
self.setText = False
self.GUIState = STATE_DECAY
self.timelineState = 0
self.bbox = self.colorUserMesh.getBBox()
self.camera.centerOnBBox(self.bbox,
theta=-math.pi / 2,
phi=math.pi / 2)
def handleDecayState(self):
if self.timelineState > 40:
#Render the head in its current form
self.colorUserMesh.renderGL(drawEdges=0,
drawVerts=0,
drawNormals=0,
drawFaces=1,
lightingOn=True)
if self.timelineState == 0:
titleFont = wx.Font(24, wx.FONTFAMILY_DECORATIVE,
wx.FONTSTYLE_NORMAL, wx.FONTWEIGHT_BOLD)
self.titleText.SetFont(titleFont)
if self.timelineState <= 20:
#TODO: Include Images here
self.titleText.SetLabelText(
"1180 - 1223: Paris becomes capital of French Kingdom")
time.sleep(0.05)
self.Refresh()
elif self.timelineState <= 40:
self.titleText.SetLabelText(
"1163: Construction of Notre Dame Cathedral Begins")
time.sleep(0.05)
self.Refresh()
elif self.timelineState <= 60:
self.titleText.SetLabelText(
"1245 - 1258: Remodling of North transept and addition of the Virtue"
)
time.sleep(0.1)
elif self.timelineState < 120:
year = int(
np.round((self.timelineState - 60) * (1793 - 1258) / 60.0 +
1258))
self.titleText.SetLabelText(
"%i: Virtue in Situ on Cathedral Facade" % year)
#Dampen the colors
for v in self.colorUserMesh.vertices:
C = v.color
meanC = sum(C) / float(len(C))
v.color = [c - (c - meanC) * 0.025 for c in C]
self.colorUserMesh.needsDisplayUpdate = True
else:
if self.timelineState == 121:
self.titleText.SetLabelText(
"1793: French Revolution and the Iconoclasm/Vandalism")
#TODO: Rotate head slightly to left, fix chunks
if self.timelineState == 120:
USINGLAPLACIAN = False
self.titleText.SetLabelText(
"1793: French Revolution Iconoclasm: Decapitation Imminent..."
)
#Make some dents
perms = np.random.permutation(len(self.colorUserMesh.vertices))
print "CHUNKING"
constraints = []
chunks = 0
for i in range(0, 20):
idx = perms[i]
V = self.colorUserMesh.vertices[idx]
if USINGLAPLACIAN:
N = V.getNormal()
#if np.abs(N.z) < 0.8:
# continue
chunks = chunks + 1
chunkSize = 0.05 * np.random.rand(1)[0]
P = V.pos - chunkSize * Vector3D(0, 0, -1)
constraints.append((idx, P))
otherVerts = V.getVertexNeighbors()
for V2 in otherVerts:
P = V2.pos - chunkSize * 0.5 * Vector3D(0, 0, -1)
constraints.append((V2.ID, P))
else:
P = V.pos
randDiff = 0.02 * np.random.rand(1)[0]
P = P - randDiff * V.getNormal()
V.pos = P
for V2 in V.getVertexNeighbors():
P = V2.pos - 0.5 * randDiff * V2.getNormal()
V2.pos = P
if USINGLAPLACIAN:
self.colorUserMesh.solveVertexPositionsWithConstraints(
constraints)
self.colorUserMesh.needsDisplayUpdate = True
print "There were %i chunks" % chunks
self.timelineState = self.timelineState + 1
self.Refresh()
def handleShowStretchState(self):
#TODO: Finish this
self.GUIState = STATE_SHOWSTRETCH
self.Refresh()
def repaint(self):
#Set up projection matrix
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
farDist = (self.camera.eye - self.bbox.getCenter()).Length() * 2
#This is to make sure we can see on the inside
farDist = max(farDist, self.bbox.getDiagLength() * 2)
nearDist = farDist / 50.0
gluPerspective(180.0 * self.camera.yfov / M_PI,
float(self.size.x) / self.size.y, nearDist, farDist)
#Set up modelview matrix
self.camera.gotoCameraFrame()
glClearColor(0.0, 0.0, 0.0, 0.0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLightfv(GL_LIGHT0, GL_POSITION, [3.0, 4.0, 5.0, 0.0])
glLightfv(GL_LIGHT1, GL_POSITION, [-3.0, -2.0, -3.0, 0.0])
glEnable(GL_LIGHTING)
glMaterialfv(GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE,
[0.8, 0.8, 0.8, 1.0])
glMaterialfv(GL_FRONT_AND_BACK, GL_SPECULAR, [0.2, 0.2, 0.2, 1.0])
glMaterialfv(GL_FRONT_AND_BACK, GL_SHININESS, 64)
self.zCenter = (self.bbox.zmax + self.bbox.zmin) / 2.0
if self.GUIState == STATE_INTRO:
self.handleIntroState()
elif self.GUIState == STATE_SHOWPOINTS:
self.handleShowPointsState()
elif self.GUIState == STATE_SHOWICP:
self.handleICPState()
elif self.GUIState == STATE_DECAY:
self.handleDecayState()
self.SwapBuffers()
def initGL(self):
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, [0.2, 0.2, 0.2, 1.0])
glLightModeli(GL_LIGHT_MODEL_LOCAL_VIEWER, GL_TRUE)
glLightfv(GL_LIGHT0, GL_DIFFUSE, [1.0, 1.0, 1.0, 1.0])
glEnable(GL_LIGHT0)
glLightfv(GL_LIGHT1, GL_DIFFUSE, [0.5, 0.5, 0.5, 1.0])
glEnable(GL_LIGHT1)
glEnable(GL_NORMALIZE)
glEnable(GL_LIGHTING)
glEnable(GL_DEPTH_TEST)
def handleMouseStuff(self, x, y):
#Invert y from what the window manager says
y = self.size.height - y
self.MousePos = [x, y]
def MouseDown(self, evt):
x, y = evt.GetPosition()
self.CaptureMouse()
self.handleMouseStuff(x, y)
self.Refresh()
def MouseUp(self, evt):
x, y = evt.GetPosition()
self.handleMouseStuff(x, y)
self.ReleaseMouse()
self.Refresh()
def MouseMotion(self, evt):
x, y = evt.GetPosition()
[lastX, lastY] = self.MousePos
self.handleMouseStuff(x, y)
dX = self.MousePos[0] - lastX
dY = self.MousePos[1] - lastY
if evt.Dragging():
if evt.MiddleIsDown():
self.camera.translate(dX, dY)
elif evt.RightIsDown():
self.camera.zoom(-dY) #Want to zoom in as the mouse goes up
elif evt.LeftIsDown():
self.camera.orbitLeftRight(dX)
self.camera.orbitUpDown(dY)
self.Refresh()
#solver: Eigen simplicialLLT solver that has Laplace Beltrami + anchors
#deltaCoords: numpy array of delta coordinates
#anchors: numpy array of anchor positions
#anchorWeights: weight of anchors
def solveLaplacianMatrixIGLSoft(solver, L, M_inv, deltaCoords, anchorsIdx, anchors, anchorWeights):
print "solveLaplacianMatrixIGLSoft: anchorWeights = %g"%anchorWeights
y = np.array(L*M_inv*igl.eigen.MatrixXd(np.array(deltaCoords, dtype=np.float64)))
y[anchorsIdx] += anchorWeights*anchors
y = igl.eigen.MatrixXd(y)
ret = solver.solve(y)
return np.array(ret)
if __name__ == '__main__2':
anchorWeights = 10000
m = PolyMesh()
m.loadOffFile("cow.off")
m.performDisplayUpdate()
X = sio.loadmat("anchors.mat")
anchors = X['anchors']
anchorsIdx = X['anchorsIdx'].flatten().tolist()
deltaCoords = X['deltaCoords']
L = makeLaplacianMatrixCotWeights(m.VPos, m.ITris, anchorsIdx, anchorWeights)
m.VPos = solveLaplacianMatrix(L, deltaCoords, anchors, anchorWeights)
m.saveOffFile("LapCow.off")
if __name__ == '__main__3':
anchorWeights = 100
m = getSphereMesh(1, 2)
print "BBox Before: ", m.getBBox()
m.performDisplayUpdate()
import ShapeStatistics as shp
NUM_PER_CLASS = 10
POINTCLOUD_CLASSES = ['biplane', 'desk_chair', 'dining_chair', 'fighter_jet', 'fish', 'flying_bird', 'guitar', 'handgun', 'head', 'helicopter', 'human', 'human_arms_out', 'potted_plant', 'race_car', 'sedan', 'shelves', 'ship', 'sword', 'table', 'vase']
NRandSamples = 10000 #You can tweak this number
np.random.seed(100) #For repeatable results randomly sampling
#Load in and sample all meshes
PointClouds = []
Normals = []
for i in range(len(POINTCLOUD_CLASSES)):
print "LOADING CLASS %i of %i..."%(i, len(POINTCLOUD_CLASSES))
PCClass = []
for j in range(NUM_PER_CLASS):
m = PolyMesh()
filename = "models_off/%s%i.off"%(POINTCLOUD_CLASSES[i], j)
print "Loading ", filename
m.loadOffFileExternal(filename)
(Ps, Ns) = shp.samplePointCloud(m, NRandSamples)
PointClouds.append(Ps)
Normals.append(Ns)
# Precision recall for all classes of shapes, averaged together
SPoints = shp.getSphereSamples(2)
H0 = shp.makeAllHistograms(PointClouds, Normals, shp.getShapeHistogram, 5, 3.0)
H1 = shp.makeAllHistograms(PointClouds, Normals, shp.getShapeHistogram, 10, 3.0)
H2 = shp.makeAllHistograms(PointClouds, Normals, shp.getShapeHistogram, 30, 3.0)
plt.plot(angles[:, 1], "r")
plt.show()
return angles
if __name__ == "__main__":
if len(sys.argv) < 4:
print "Usage: python makeRotationImages.py <mesh name> <directory name> <NFrames>"
sys.exit(0)
[filename, dirName, NFrames] = [sys.argv[1], sys.argv[2], int(sys.argv[3])]
np.random.seed(100) # For repeatable results randomly sampling
if not os.path.exists(dirName):
os.mkdir(dirName)
m = PolyMesh()
m.loadFile(filename)
m.VPos = m.VPos * np.random.randn(m.VPos.shape[0], m.VPos.shape[1])
# Output rotation video
# angles = 2*np.pi*np.random.rand(NFrames, 2)
# angles = np.zeros((NFrames, 2))
# angles[:, 0] = np.linspace(0, 2*np.pi, NFrames+1)[0:NFrames]
# angles = getUniformSphereAngles(3)
[I, J] = np.meshgrid(np.linspace(0, 2 * np.pi, 30), np.linspace(0, 2 * np.pi, 30))
angles = np.zeros((I.size, 2))
angles[:, 0] = I.flatten()
angles[:, 1] = J.flatten()
# Adapted from Chris Tralie's manipulateGeometry.py
import sys
sys.path.append("S3DGLPy")
from PolyMesh import *
import numpy as np
if __name__ == '__main__':
if len(sys.argv) < 2:
sys.exit(1)
meshin = sys.argv[1]
meshout = sys.argv[2]
m = PolyMesh()
(VPos, VColors, ITris) = loadOffFileExternal(meshin)
#Note: Points come into the program as a matrix in rows, so we need
#to transpose to get them into our column format
VPos = VPos.T
#Make a random rotation matrix
R = np.eye(3, 3)
R[2, 2] = -1
print(R)
#Apply rotation
VPos = R.dot(VPos)
#Save the results
VPos = VPos.T #Need to transpose back before saving
saveOffFileExternal(meshout, VPos, VColors * 255, ITris)
break
rIn += 1 #increment row counter i.e. move to next row
PR = PR / len(
D
) #divide all precision values by number of rows i.e find average as summation of precision values/number of precision values
return PR
#########################################################
## MAIN TESTS ##
#########################################################
#sys.exit("Not executing rest of code")
if __name__ == '__main__':
m = PolyMesh()
m.loadFile("models_off/biplane0.off") #Load a mesh
(Ps,
Ns) = samplePointCloud(m, 5) #Sample 20,000 points and associated normals
exportPointCloud(Ps, Ns, "biplane.pts") #Export point cloud
#TESTING GET-SHAPE-HISTOGRAM
#histogram1 = getShapeHistogram(Ps, Ns, 21, 3)
#print histogram1
#print bins1
#plt.bar(bins1, histogram1, width=3.0/21*0.9)
#plt.show()
#TESTING GET-2D-HISTOGRAM
#DMax = 4
#NBins = 20