def generate_point_cloud(max_size=10):
np.random.seed(1)
# generate random plane with hole
plane = generate_3d_plane(
bounds_x=[0, max_size, 0.5],
bounds_y=[0, max_size, 0.5],
holes=[], #holes=[[[3, 5], [3, 5]]],
height_noise=0.05,
planar_noise=0.02)
# Add double plane to simulate extra noise
# plane2 = plane + [0.1, 0.1, 0.05]
# plane = np.vstack((plane, plane2))
# Generate top of box (causing the hole that we see)
box_top = generate_3d_plane(bounds_x=[3, 5, 0.2],
bounds_y=[3, 5, 0.2],
holes=[],
height_noise=0.02,
height=2,
planar_noise=0.02)
# Generate side of box (causing the hole that we see)
box_side = generate_3d_plane(bounds_x=[0, 2, 0.2],
bounds_y=[0, 2, 0.2],
holes=[],
height_noise=0.02,
planar_noise=0.02)
rm = rotation_matrix([0, 1, 0], -math.pi / 2.0)
box_side = apply_rotation(rm, box_side) + [5, 3, 0]
# box_side = r.apply(box_side) + [5, 3, 0]
# All points joined together
points = np.ascontiguousarray(np.concatenate((plane, box_side, box_top)))
return points
def main():
np.random.seed(1)
# generate random plane with hole
plane = generate_3d_plane(bounds_x=[0, 10, 0.5],
bounds_y=[0, 10, 0.5],
holes=[[[3, 5], [3, 5]]],
height_noise=0.02,
planar_noise=0.02)
# Generate top of box (causing the hole that we see)
box_top = generate_3d_plane(bounds_x=[3, 5, 0.2],
bounds_y=[3, 5, 0.2],
holes=[],
height_noise=0.02,
height=2,
planar_noise=0.02)
# Generate side of box (causing the hole that we see)
box_side = generate_3d_plane(bounds_x=[0, 2, 0.2],
bounds_y=[0, 2, 0.2],
holes=[],
height_noise=0.02,
planar_noise=0.02)
rm = rotation_matrix([0, 1, 0], -math.pi / 2.0)
box_side = apply_rotation(rm, box_side) + [5, 3, 0]
# All points joined together
points = np.concatenate((plane, box_side, box_top))
points_mat = MatrixDouble(points)
polylidar_kwargs = dict(alpha=0.0,
lmax=1.0,
min_triangles=20,
z_thresh=0.1,
norm_thresh_min=0.94)
polylidar = Polylidar3D(**polylidar_kwargs)
fig, ax = plt.subplots(figsize=(10, 10),
nrows=1,
ncols=1,
subplot_kw=dict(projection='3d'))
# plot points
ax.scatter(*scale_points(points),
s=2.5,
c=points[:, 2],
cmap=plt.cm.plasma)
set_axes_equal(ax)
ax.view_init(elev=15., azim=-35)
plt.show()
# Extracts planes and polygons, time
t1 = time.time()
mesh, planes, polygons = polylidar.extract_planes_and_polygons(points_mat)
t2 = time.time()
print("Took {:.2f} milliseconds".format((t2 - t1) * 1000))
print("Should see two planes extracted, please rotate.")
triangles = np.asarray(mesh.triangles)
fig, ax = plt.subplots(figsize=(10, 10),
nrows=1,
ncols=1,
subplot_kw=dict(projection='3d'))
# plot all triangles
plot_planes_3d(points, triangles, planes, ax)
plot_polygons_3d(points, polygons, ax)
# plot points
ax.scatter(*scale_points(points), c='k', s=0.1)
set_axes_equal(ax)
ax.view_init(elev=15., azim=-35)
plt.show()
print("")
def main():
# np.random.seed(5)
np.random.seed(9)
# generate random plane with hole
plane = generate_3d_plane(bounds_x=[0, 10, 0.5],
bounds_y=[0, 10, 0.5],
holes=[[[3, 5], [3, 5]]],
height_noise=0.05,
planar_noise=0.10)
# Generate top of box (causing the hole that we see)
box_top = generate_3d_plane(bounds_x=[3, 5, 0.2],
bounds_y=[3, 5, 0.2],
holes=[],
height_noise=0.02,
height=2,
planar_noise=0.02)
# Generate side of box (causing the hole that we see)
box_side = generate_3d_plane(bounds_x=[0, 2, 0.2],
bounds_y=[0, 2, 0.2],
holes=[],
height_noise=0.02,
planar_noise=0.02)
rm = rotation_matrix([0, 1, 0], -math.pi / 2.0)
box_side = apply_rotation(rm, box_side) + [5, 3, 0]
# box_side = r.apply(box_side) + [5, 3, 0]
# All points joined together
points = np.concatenate((plane, box_side, box_top))
points_mat = MatrixDouble(points)
polylidar_kwargs = dict(alpha=0.0,
lmax=1.0,
min_triangles=20,
z_thresh=0.1,
norm_thresh_min=0.94)
polylidar = Polylidar3D(**polylidar_kwargs)
elev = 15.0
azim = -125
# Extracts planes and polygons, time
t1 = time.time()
mesh, planes, polygons = polylidar.extract_planes_and_polygons(points_mat)
t2 = time.time()
print("Polylidar Took {:.2f} milliseconds".format((t2 - t1) * 1000))
triangles = np.asarray(mesh.triangles)
all_planes = [np.arange(triangles.shape[0])]
print("")
print("Should see a mesh segments")
fig, ax = plt.subplots(figsize=(10, 10),
nrows=1,
ncols=1,
subplot_kw=dict(projection='3d'))
# plot all triangles
# plot_polygons_3d(points, polygons, ax)
rm_45 = rotation_matrix([0, 1, 0], -math.pi / 4.0)
points_rot = apply_rotation(rm_45, points)
plot_planes_3d(points_rot, triangles, [planes[1]], ax, alpha=[0.85])
# plot points
# ax.scatter(*scale_points(points), c='k', s=0.1)
set_axes_equal(ax)
ax.view_init(elev=elev, azim=azim)
ax.set_xlabel('X')
ax.set_ylabel('Y')
ax.set_zlabel('Z')
fig.savefig("assets/scratch/PolygonExtraction_a.pdf", bbox_inches='tight')
# fig.savefig("assets/scratch/Basic25DAlgorithm_polygons.png", bbox_inches='tight', pad_inches=-0.8)
plt.show()
# Show 2D Projection and Polygon Extraction
print("")
print("Should see projected vertices to geometric plane")
fig, ax = plt.subplots(nrows=1, ncols=1, figsize=(5, 5))
simplices_plane = triangles[planes[1], :]
plot_polygons([polygons[1]],
points[:, :2],
ax,
shell_color=COLOR_PALETTE[4],
hole_color=COLOR_PALETTE[4])
ax.triplot(points[:, 0], points[:, 1], simplices_plane, c='k', alpha=0.75)
xlim = ax.get_xlim()
ylim = ax.get_ylim()
ax.set_xlabel('X')
ax.set_ylabel('Y')
fig.savefig("assets/scratch/PolygonExtraction_b1.pdf", bbox_inches='tight')
plt.show()
# Show 2D Projection and Polygon Extraction
print("")
print("Should see projected vertices to geometric plane")
fig, ax = plt.subplots(nrows=1, ncols=1, figsize=(5, 5))
simplices_plane = triangles[planes[1], :]
plot_polygons([polygons[1]], points[:, :2], ax)
ax.triplot(points[:, 0], points[:, 1], simplices_plane, c='k', alpha=0.75)
ax.set_xlabel('X')
ax.set_ylabel('Y')
fig.savefig("assets/scratch/PolygonExtraction_b2.pdf", bbox_inches='tight')
plt.show()
poly = polygons[1]
shell_coords = get_points(poly.shell, points)
hole_coords = [get_points(hole, points) for hole in poly.holes]
poly_shape = Polygon(shell=shell_coords, holes=hole_coords)
# Show Simplification
print("")
print("Should see simplified Polygon")
fig, ax = plt.subplots(nrows=1, ncols=1, figsize=(5, 5))
patch = PolygonPatch(poly_shape, fill=True, alpha=0.5)
ax.add_patch(patch)
# plot_polygons([polygons[1]], points[:, :2], ax)
poly_simplify = poly_shape.simplify(.2, preserve_topology=True)
patch = PolygonPatch(poly_simplify,
color='k',
fill=False,
linewidth=1.5,
linestyle='--',
zorder=1)
ax.add_patch(patch)
ax.set_xlim(xlim)
ax.set_ylim(ylim)
print(f"Before Vertices: {len(poly_shape.exterior.coords)}")
print(f"After Vertices: {len(poly_simplify.exterior.coords)}")
ax.set_xlabel('X')
ax.set_ylabel('Y')
fig.savefig("assets/scratch/PolygonExtraction_c.pdf", bbox_inches='tight')
plt.show()
# Show Positive Buffer
print("")
print("Should see positive buffer Polygon")
fig, ax = plt.subplots(nrows=1, ncols=1, figsize=(5, 5))
patch = PolygonPatch(poly_shape, fill=True, alpha=0.5)
ax.add_patch(patch)
# plot_polygons([polygons[1]], points[:, :2], ax)
poly_buffer = poly_simplify.buffer(.2)
patch = PolygonPatch(poly_buffer,
color='k',
fill=False,
linewidth=1.5,
linestyle='--',
zorder=1)
ax.add_patch(patch)
ax.set_xlim(xlim)
ax.set_ylim(ylim)
print(f"After Vertices: {len(poly_buffer.exterior.coords)}")
ax.set_xlabel('X')
ax.set_ylabel('Y')
fig.savefig("assets/scratch/PolygonExtraction_d.pdf", bbox_inches='tight')
plt.show()
# Show Negative Buffer
print("")
print("Should see negative buffer Polygon")
fig, ax = plt.subplots(nrows=1, ncols=1, figsize=(5, 5))
patch = PolygonPatch(poly_shape, fill=True, alpha=0.5)
ax.add_patch(patch)
# plot_polygons([polygons[1]], points[:, :2], ax)
poly_buffer = poly_buffer.buffer(-.2)
patch = PolygonPatch(poly_buffer,
color='k',
fill=False,
linewidth=1.5,
linestyle='--',
zorder=1)
ax.add_patch(patch)
ax.set_xlim(xlim)
ax.set_ylim(ylim)
print(f"After Vertices: {len(poly_buffer.exterior.coords)}")
ax.set_xlabel('X')
ax.set_ylabel('Y')
fig.savefig("assets/scratch/PolygonExtraction_e.pdf", bbox_inches='tight')
plt.show()
def main():
np.random.seed(1)
# generate random plane with hole
plane = generate_3d_plane(bounds_x=[0, 10, 0.5], bounds_y=[0, 10, 0.5], holes=[
[[3, 5], [3, 5]]], height_noise=0.02, planar_noise=0.02)
# Generate top of box (causing the hole that we see)
box_top = generate_3d_plane(bounds_x=[3, 5, 0.2], bounds_y=[3, 5, 0.2], holes=[
], height_noise=0.02, height=2, planar_noise=0.02)
# Generate side of box (causing the hole that we see)
box_side = generate_3d_plane(bounds_x=[0, 2, 0.2], bounds_y=[
0, 2, 0.2], holes=[], height_noise=0.02, planar_noise=0.02)
rm = rotation_matrix([0, 1, 0], -math.pi / 2.0)
box_side = apply_rotation(rm, box_side) + [5, 3, 0]
# All points joined together
points = np.concatenate((plane, box_side, box_top))
points_mat = MatrixDouble(points)
polylidar_kwargs = dict(alpha=0.0, lmax=1.0, min_triangles=20, z_thresh=0.1, norm_thresh_min=0.94)
polylidar = Polylidar3D(**polylidar_kwargs)
elev = 15.0
azim = -35
# Show Point Cloud
print("Should see point raw point cloud")
fig, ax = plt.subplots(figsize=(10, 10), nrows=1, ncols=1,
subplot_kw=dict(projection='3d'))
# plot points
ax.scatter(*scale_points(points), s=20.0, c=points[:, 2], cmap=plt.cm.plasma)
set_axes_equal(ax)
ax.view_init(elev=elev, azim=azim)
fig.savefig("assets/scratch/Basic25DAlgorithm_pointcloud.pdf", bbox_inches='tight')
fig.savefig("assets/scratch/Basic25DAlgorithm_pointcloud.png", bbox_inches='tight', pad_inches=-0.8)
plt.show()
# Extracts planes and polygons, time
t1 = time.time()
mesh, planes, polygons = polylidar.extract_planes_and_polygons(points_mat)
t2 = time.time()
print("Polylidar Took {:.2f} milliseconds".format((t2 - t1) * 1000))
triangles = np.asarray(mesh.triangles)
all_planes = [np.arange(triangles.shape[0])]
# Show Triangulation
fig, ax = plt.subplots(figsize=(10, 10), nrows=1, ncols=1,
subplot_kw=dict(projection='3d'))
plot_planes_3d(points, triangles, all_planes, ax, alpha=0.0, z_value=-4.0)
plot_planes_3d(points, triangles, all_planes, ax, alpha=0.5)
# plot points
ax.scatter(*scale_points(points), s=0.1, c='k')
set_axes_equal(ax, ignore_z=True)
ax.set_zlim3d([-4, 6])
ax.view_init(elev=elev, azim=azim)
print("Should see triangulation point cloud")
fig.savefig("assets/scratch/Basic25DAlgorithm_mesh.pdf", bbox_inches='tight')
fig.savefig("assets/scratch/Basic25DAlgorithm_mesh.png", bbox_inches='tight', pad_inches=-0.8)
plt.show()
print("")
print("Should see two planes extracted, please rotate.")
fig, ax = plt.subplots(figsize=(10, 10), nrows=1, ncols=1,
subplot_kw=dict(projection='3d'))
# plot all triangles
plot_polygons_3d(points, polygons, ax)
plot_planes_3d(points, triangles, planes, ax)
# plot points
ax.scatter(*scale_points(points), c='k', s=0.1)
set_axes_equal(ax)
ax.view_init(elev=elev, azim=azim)
fig.savefig("assets/scratch/Basic25DAlgorithm_polygons.pdf", bbox_inches='tight')
fig.savefig("assets/scratch/Basic25DAlgorithm_polygons.png", bbox_inches='tight', pad_inches=-0.8)
plt.show()
print("")