def depth2map(depth, size, ratio):
num = depth.shape[0]
plist = [
utils.coords2xyz((float(i) / num, 0.5), depth[i])
for i in np.arange(0, num)
]
pointMap = np.zeros(size)
polygon = []
for p in plist:
xz = np.asarray(p)[[0, 2]] / ratio + size[0] / 2
xz[xz > size[0]] = size[0]
xz[xz < 0] = 0
polygon.append(tuple(xz))
utils.imageDrawPolygon(pointMap, polygon)
'''
xy = [[p[0] for p in plist], [p[2] for p in plist]]
xy = np.asarray(xy)
pointMap = np.zeros(size)
xy /= ratio
xy += size[0]/2
xy = xy.astype(int)
pointMap[xy[1,:],xy[0,:]] = 1
'''
return pointMap
def genLayoutFloorMap(scene, size, ratio):
floorMap = np.zeros(size)
polygon = []
for point in scene.layoutFloor.gPoints:
xz = np.asarray(point.xyz)[[0,2]] / ratio + size[0]/2
xz[xz>size[0]] = size[0]
xz[xz<0] = 0
polygon.append(tuple(xz))
utils.imageDrawPolygon(floorMap, polygon)
return floorMap
def genLayoutObj2dMap(scene, size):
obj2dMap = np.zeros(size)
for obj2d in scene.label.getLayoutObject2d():
isCross, polygon = genWallPolygon2d(size, obj2d)
if not isCross:
utils.imageDrawPolygon(obj2dMap, polygon, obj2d.color)
else:
utils.imageDrawPolygon(obj2dMap, polygon[0], obj2d.color)
utils.imageDrawPolygon(obj2dMap, polygon[1], obj2d.color)
return obj2dMap
def genLayoutNormalMap(scene, size):
normalMap = np.zeros(size)
normalMap[:int(size[0]/2),:] = scene.label.getLayoutCeiling().color
normalMap[int(size[0]/2)+1:,:] = scene.label.getLayoutFloor().color
for wall in scene.label.getLayoutWalls():
if wall.planeEquation[3] > 0:
continue
isCross, polygon = genWallPolygon2d(size, wall)
if not isCross:
utils.imageDrawPolygon(normalMap, polygon, wall.color)
else:
utils.imageDrawPolygon(normalMap, polygon[0], wall.color)
utils.imageDrawPolygon(normalMap, polygon[1], wall.color)
return normalMap
def genLayoutFloorCeilingMap(scene, size):
fcMap = np.ones(size)
walls = sortWallsByDist(scene.layoutWalls)
for wall in walls:
if wall.planeEquation[3] > 0:
continue
isCross, polygon = genWallPolygon2d(size, wall)
if not isCross:
utils.imageDrawPolygon(fcMap, polygon, 0)
else:
utils.imageDrawPolygon(fcMap, polygon[0], 0)
utils.imageDrawPolygon(fcMap, polygon[1], 0)
return fcMap
def genLayoutOMap(scene, size):
oMap = np.zeros(size)
oMap[:,:,0] = 1
for wall in scene.label.getLayoutWalls():
if wall.planeEquation[3] > 0:
continue
color = utils.normal2ManhColor(wall.normal)
isCross, polygon = genWallPolygon2d(size, wall)
if not isCross:
utils.imageDrawPolygon(oMap, polygon, color)
else:
utils.imageDrawPolygon(oMap, polygon[0], color)
utils.imageDrawPolygon(oMap, polygon[1], color)
return oMap
