def __getitem__(self, idx):
ply_path = self.files[idx]['ply_path']
category = self.files[idx]['category']
data = read_ply(ply_path)
pointcloud = self.transforms(
np.vstack((data['x'], data['y'], data['z'])).T)
return {'pointcloud': pointcloud, 'category': self.classes[category]}
def _gen_clouds(root, id_category, nPerCat, sous_echantillonage):
root += "/"
res = []
for cat in id_category:
path = root + str(cat) + "/ply/"
# ignore les fichiers .txt
keys = [key for key in os.listdir(path) if key[-4:] != ".txt"]
for key in sorted(keys)[:nPerCat]:
sub_path = path + key
cloud = ply.read_ply(sub_path)['points']
if type(sous_echantillonage) == int:
ratio = sous_echantillonage / len(cloud.values)
if ratio > 1:
print("PAS ASSEZ DE POINTS DANS LE NUAGE",
sous_echantillonage, '/', len(cloud.values))
else:
ratio = sous_echantillonage
sub_sampled = []
for i, x in enumerate(cloud.values[:, :3]):
if len(sub_sampled) / (i + 1) < ratio:
sub_sampled.append(torch.tensor(x))
assert ratio > 1 and len(sub_sampled) == len(
cloud.values) or len(sub_sampled) == ratio * len(cloud.values)
# noinspection PyTypeChecker
res.append(torch.cat(sub_sampled).reshape((-1, 3)))
assert not res[0].requires_grad
return np.array(res, dtype=torch.Tensor)
def load_points(fname):
cloud_ply = read_ply(fname)
points = np.vstack((cloud_ply['x'], cloud_ply['y'], cloud_ply['z'])).T
if ('class' in cloud_ply.dtype.fields):
labels = cloud_ply['class']
return points, labels
else:
return points
def initializeFaces(pathToData, loadFromFile=False, filename='faces.json'):
if (loadFromFile and Path(filename).is_file()):
with open(filename, 'r') as outfile:
jcontent = json.load(outfile)
tsurf = triangulatedSurfaces(np.array(jcontent['triangulation']),
np.array(jcontent['meshes']))
else:
fileFormat = '*.ply'
files = sorted(glob.glob(pathToData + fileFormat))
print("All files")
plydata = read_ply(files[0])
triangulation = plydata['mesh'].values
points = plydata['points']
x = points.x.values
numOfPoints = len(x)
meshList = np.zeros((numOfPoints * 3, len(files)))
for (i, file) in enumerate(files):
print(" - " + file)
plydata = read_ply(file)
points = plydata['points']
x = points.x.values
y = points.y.values
z = points.z.values
data = np.array((x, y, z)).T
data = np.reshape(data, (-1, 1))
meshList[:, i] = data[:, 0]
tsurf = triangulatedSurfaces(triangulation, meshList)
with open(filename, 'w') as outfile:
json.dump(
{
'triangulation': tsurf.triangulation.tolist(),
'meshes': tsurf.meshes.tolist()
}, outfile)
return tsurf
def __init__(self,path_file, sel_mod = "rel", self_args = {'thresh': 0.01},\
neigh_args = {'k':10}, neigh_flag = "k", k_harris = 0.04):
data = ply.read_ply(path_file)
pos = np.stack([data['x'],data['y'], data['z']]).T #Positions: Nx3
self.mesh_objects =base.Meshgrid(pos)
self.repeatbiliy_thresh = self.mesh_objects.diameter * self_args['thresh']
self.sel_mod = sel_mod
self.sel_args = self_args
self.neigh_args = neigh_args
self.neigh_flag = neigh_flag
self.k_harris = k_harris
assert not np.all(np.isnan(pos)) and not np.all(np.isinf(pos))
def transform(root, filename):
if not os.path.exists('./ply_gen'):
os.makedirs('./ply_gen')
# Example transformation.
# 1. Read the PLY data file.
data = read_ply(os.path.join(root, filename))
# 2. Shift points by the vector (25, -10, 7).
data = translate(data, 25, -10, 7)
# 3. Rotate points 45 degress around the Z-axis.
data = rotate_z(data, 45)
# 4. Write the new points into a new PLY data file.
write_ply(os.path.join('./ply_gen', filename), [data['x'], data['y'], data['z'], data['x_origin'], data['y_origin'], data['z_origin'],
data['GPS_time'], data['reflectance']], ['x', 'y', 'z', 'x_origin', 'y_origin', 'z_origin', 'GPS_time', 'reflectance'])
if __name__ == '__main__':
# Transformation estimation
# *************************
#
# Cloud paths
bunny_o_path = '../data/bunny_original.ply'
bunny_p_path = '../data/bunny_perturbed.ply'
dragon_o_path = '../data/dragon_original.ply'
dragon_p_path = '../data/dragon_perturbed.ply'
# Load clouds
UseBunny = True
if UseBunny:
# Load Bunny point cloud
cloud_o_ply = read_ply(bunny_o_path)
cloud_p_ply = read_ply(bunny_p_path)
else:
# Load Dragon point cloud
cloud_o_ply = read_ply(dragon_o_path)
cloud_p_ply = read_ply(dragon_p_path)
cloud_o = np.vstack((cloud_o_ply['x'], cloud_o_ply['y'], cloud_o_ply['z']))
cloud_p = np.vstack((cloud_p_ply['x'], cloud_p_ply['y'], cloud_p_ply['z']))
# Random transformation
apply_random_transfo = False
if apply_random_transfo:
np.random.seed(42)
t = np.random.randn(3) * 0.05
thetas = np.pi * np.random.rand(3)
R = RotMatrix(thetas)
def from_tri_to_vertices(tri):
v1, v2, v3 = np.split(tri, 3, axis=-1)
vertices = np.squeeze(np.concatenate([v1, v2, v3], axis=0))
vertices = vertices.tolist()
vertices = set(vertices)
return vertices
def from_vertices_to_mask(vertices, max_vertex_id):
ver_mask = np.zeros([max_ver_id])
for v in vertices:
ver_mask[v] = 1
ver_mask = np.array(ver_mask)
return ver_mask
wo_eyebrow_data = read_ply(wo_eyebrow_path)
wo_eyebrow_vertices = from_tri_to_vertices(np.array(wo_eyebrow_data['mesh']))
wo_nose_data = read_ply(wo_nose_path)
wo_nose_vertices = from_tri_to_vertices(np.array(wo_nose_data['mesh']))
max_ver_id = np.array(wo_eyebrow_data['points']).shape[0]
wo_eyebrow_mask = from_vertices_to_mask(wo_eyebrow_vertices, max_ver_id)
wo_nose_mask = from_vertices_to_mask(wo_nose_vertices, max_ver_id)
np.save('../resources/wo_eyebrow_mask.npy', wo_eyebrow_mask)
np.save('../resources/wo_nose_mask.npy', wo_nose_mask)
def partply(partpath, rot, opath):
T = np.dtype([("n", np.uint8), ("i0", np.int32), ('i1', np.int32),
('i2', np.int32)])
data = read_ply(os.path.join(partpath, 'point_sample', 'ply-10000.ply'))
label = np.loadtxt(os.path.join(partpath, 'point_sample',
'label-10000.txt'),
dtype=np.int32)
plypts = np.array(data['points'])[:, :3]
start = np.min(label)
end = np.max(label)
part_map = json.load(open(os.path.join(partpath, 'result_map.json'), 'r'))
partv_lst = []
partf_lst = []
for i in range(start, end + 1):
num = np.sum(label == i)
if num > 0:
pv = []
pf = []
pvn = 0
for name in part_map['%d' % i]['objs']:
pvi, pfi = read_obj(
os.path.join(partpath, 'objs', name + '.obj'))
pv.append(pvi)
pf.append(pfi + pvn)
pvn += pvi.shape[0]
if len(pv) > 1:
partv_lst.append(np.concatenate(pv, axis=0))
partf_lst.append(np.concatenate(pf, axis=0))
else:
partv_lst.append(pv[0])
partf_lst.append(pf[0])
partpts = np.concatenate(partv_lst, axis=0)
center, scale = tounit_param(partpts)
for parti in range(len(partv_lst)):
partptsi = partv_lst[parti]
partface = partf_lst[parti]
r = R.from_euler('y', 180, degrees=True)
pc = r.apply(partptsi).astype(np.float32)
pc -= center
pc /= scale
r = R.from_euler('y', rot, degrees=True)
pc = r.apply(pc).astype(np.float32)
face = np.zeros(shape=[len(partface)], dtype=T)
for i in range(len(partface)):
face[i] = (3, int(partface[i][0]), int(partface[i][1]),
int(partface[i][2]))
r = R.from_euler('x', 90, degrees=True)
pc = r.apply(pc).astype(np.float32)
rc = pd.DataFrame(
np.repeat(np.array([[255, 0, 0]], dtype=np.uint8),
partptsi.shape[0],
axis=0))
bc = pd.DataFrame(
np.repeat(np.array([[0, 0, 255]], dtype=np.uint8),
partptsi.shape[0],
axis=0))
pc = pd.DataFrame(pc)
partptsia = pd.concat([pc, rc], axis=1, ignore_index=True)
partptsib = pd.concat([pc, bc], axis=1, ignore_index=True)
write_ply(os.path.join(opath, 'p_%d_a.ply' % parti),
points=partptsia,
faces=pd.DataFrame(face),
color=True)
write_ply(os.path.join(opath, 'p_%d_b.ply' % parti),
points=partptsib,
faces=pd.DataFrame(face),
color=True)
return
def pack(pnpath, partpath, spnobjpath, opath, id, angle):
partp = os.path.join(partpath, 'part_r%d' % angle)
imgp = os.path.dirname(spnobjpath)
data = read_ply(os.path.join(pnpath, 'point_sample', 'ply-10000.ply'))
label = np.loadtxt(os.path.join(pnpath, 'point_sample', 'label-10000.txt'),
dtype=np.int32)
plypts = np.array(data['points'])[:, :3]
start = np.min(label)
end = np.max(label)
cnt = 0
msklst = []
smsklst = []
ps = []
pstouch = []
r1 = R.from_euler('x', -90, degrees=True)
for i in range(start, end + 1):
pv = plypts[label == i, :3].astype(np.float32)
num = pv.shape[0]
if num > 0:
mskp = 'p_%d_b_msk0001.png' % (cnt)
msk = Image.open(os.path.join(partp, 'all_msk', mskp))
msk = np.array(msk).astype(np.float32) / 255.0
msk = msk[:, :, 2]
smsk = Image.open(os.path.join(partp, 'self_msk', mskp))
smsk = np.array(smsk).astype(np.float32) / 255.0
smsk = smsk[:, :, 2]
if np.sum(msk) > 9:
pstouch.append(pv)
cpath = os.path.join(partp, 'p_%d_b.ply' % cnt)
pts = read_ply(cpath)
pvp = np.array(pts['points'])[:, :3].astype(np.float32)
pvp = r1.apply(pvp)
ps.append(pvp)
smsklst.append(smsk)
msklst.append(msk)
cnt += 1
print(len(ps))
num = len(ps)
obblst = []
obbp = []
obbf = []
obbcnt = 0
for pts in ps:
obba = OBB.build_by_trimesh(pts)
obbb = OBB.build_from_points(pts)
if (obba is None) or ((obbb is not None) and
(obba.volume > obbb.volume)):
obbr = obbb
else:
obbr = obba
#print('size:',obba.volume);
obblst.append(obbr)
obbf.append(bf + obbcnt * 8)
obbcnt += 1
#print('obbf:',len(obbf));
#print('obbcnt:',obbcnt);
mm = []
for pi in range(num - 1):
for pj in range(pi + 1, num):
da, db = (
pstouch[pi],
pstouch[pj]) if obblst[pi].volume > obblst[pj].volume else (
pstouch[pj], pstouch[pi])
tree = scipy.spatial.KDTree(da)
dsta, idxa = tree.query(da, k=2)
dstb, idxb = tree.query(db, k=1)
if np.min(dstb) < np.mean(dsta[:, 1]):
mm.append(np.array([pi, pj], dtype=np.int32))
print('mm:', len(mm))
if len(mm) < 1:
return
img = Image.open(os.path.join(imgp, 'model_normalized_r%d_e.png' % angle))
img = np.array(img).astype(np.float32) / 255.0
h5fo = h5py.File(os.path.join(opath, id + '_r%d.h5' % angle), 'w')
h5fo.create_dataset("img",
data=img,
compression="gzip",
compression_opts=9)
packorigin(imgp, angle, h5fo)
h5fo.create_dataset("touch",
data=np.stack(mm, axis=0),
compression="gzip",
compression_opts=9)
msks = np.stack(msklst, axis=0)
h5fo.create_dataset("msk",
data=msks,
compression="gzip",
compression_opts=9)
smsks = np.stack(smsklst, axis=0)
h5fo.create_dataset("smsk",
data=smsks,
compression="gzip",
compression_opts=9)
obbk = []
for obb in obblst:
obbp.append(obb.points)
obbk.append(obb.tov)
obbv = np.concatenate(obbp, axis=0)
h5fo.create_dataset("box",
data=np.stack(obbk, axis=0),
compression="gzip",
compression_opts=9)
fidx = np.concatenate(obbf, axis=0)
T = np.dtype([("n", np.uint8), ("i0", np.int32), ('i1', np.int32),
('i2', np.int32)])
face = np.zeros(shape=[12 * len(obbf)], dtype=T)
for i in range(fidx.shape[0]):
face[i] = (3, fidx[i, 0], fidx[i, 1], fidx[i, 2])
print(mm, file=open(os.path.join(partpath, 'mm_r%d.txt' % angle), 'w'))
obox = os.path.join(partpath, 'box_r%d.ply' % angle)
write_ply(obox,
points=pd.DataFrame(obbv.astype(np.float32)),
faces=pd.DataFrame(face),
as_text=True)
h5fo.close()
