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 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 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 __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 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
# 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)
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()
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()
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")
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
