def genLayoutDepthMap(scene, size):
depthMap = np.zeros(size)
for y in range(0, size[0]):
for x in range(0, size[1]):
coords = utils.pos2coords((y,x), size)
coordsT = utils.posTranspose(coords)
vec = utils.coords2xyz(coordsT, 1)
if y <= int(size[0]/2):
plane = scene.label.getLayoutCeiling().planeEquation
else:
plane = scene.label.getLayoutFloor().planeEquation
point = utils.vectorPlaneHit(vec, plane)
depth = 0 if point is None else utils.pointsDistance((0,0,0), point)
depthMap[y,x] = depth
for wall in scene.label.getLayoutWalls():
if wall.planeEquation[3] > 0:
continue
isCross, polygon = genWallPolygon2d(size, wall)
if not isCross:
utils.imageDrawWallDepth(depthMap, polygon, wall)
else:
utils.imageDrawWallDepth(depthMap, polygon[0], wall)
utils.imageDrawWallDepth(depthMap, polygon[1], wall)
return depthMap
def imageDrawWallDepth(data, polygon, wall):
size = (data.shape[1], data.shape[0])
polyx = np.array([p[0] for p in polygon])
polyy = np.array([p[1] for p in polygon])
posy, posx = draw.polygon(polyy, polyx)
for i in range(len(posy)):
coords = utils.pos2coords((posx[i], posy[i]), size)
vec = utils.coords2xyz(coords, 1)
point = utils.vectorPlaneHit(vec, wall.planeEquation)
depth = 0 if point is None else utils.pointsDistance((0, 0, 0), point)
color = (depth, depth, depth)
draw.set_color(data, [posy[i], posx[i]], list(color))