コード例 #1
0
ファイル: alignement.py プロジェクト: openalea/plantscan3d
def optimizeAlignementOrientation(points, mtg, p_edir=None):
    from mtgmanip import mtg2pgltree
    import openalea.plantgl.all as pgl
    from pointprocessing import np_inertia_axis
    from math import pi, degrees

    nodes, parents, vertex2node = mtg2pgltree(mtg)
    dist = pgl.average_distance_to_shape(points, nodes, parents,
                                         [0 for i in xrange(len(nodes))])
    print dist

    if p_edir is None:
        p_eval, p_edir, p_center = np_inertia_axis(points)

    nbtest = 72
    rotangle = 2 * pi / nbtest
    tangle = 0

    def check_rot_angle(crotangle, dist, tangle):
        print 'test rotation of', degrees(crotangle), ':',
        m = pgl.Matrix3.axisRotation(p_edir[0], crotangle)
        nnodes = [m * p for p in nodes]
        ndist = pgl.average_distance_to_shape(points, nnodes, parents,
                                              [0 for j in xrange(len(nodes))])
        print ndist
        if ndist < dist:
            tangle = crotangle
            dist = ndist
        return dist, tangle

    for i in xrange(1, nbtest):
        crotangle = rotangle * i
        dist, tangle = check_rot_angle(crotangle, dist, tangle)

    nbtest = 10
    rotangle = 2 * rotangle / nbtest
    gtangle = tangle
    for i in xrange(1, nbtest / 2):
        crotangle = gtangle - rotangle * i
        dist, tangle = check_rot_angle(crotangle, dist, tangle)
    for i in xrange(1, nbtest / 2):
        crotangle = gtangle + rotangle * i
        dist, tangle = check_rot_angle(crotangle, dist, tangle)

    if tangle != 0:
        print 'select', degrees(tangle), dist
        npos = dict()
        m = pgl.Matrix3.axisRotation(p_edir[0], tangle)
        for vid, pos in mtg.property('position').items():
            npos[vid] = m * pos
        mtg.property('position').update(npos)
コード例 #2
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def optimizeAlignementOrientation(points, mtg, p_edir = None):
    from mtgmanip import mtg2pgltree
    import openalea.plantgl.all  as pgl
    from pointprocessing import np_inertia_axis
    from math import pi, degrees

    nodes, parents, vertex2node = mtg2pgltree(mtg)
    dist = pgl.average_distance_to_shape(points, nodes, parents, [0 for i in xrange(len(nodes))])
    print dist

    if p_edir is None:
        p_eval, p_edir, p_center  = np_inertia_axis(points)

    nbtest = 72
    rotangle = 2*pi/nbtest
    tangle = 0

    def check_rot_angle(crotangle, dist, tangle):
        print 'test rotation of',degrees(crotangle),':',
        m = pgl.Matrix3.axisRotation(p_edir[0],crotangle)
        nnodes = [m*p for p in nodes]
        ndist = pgl.average_distance_to_shape(points, nnodes, parents, [0 for j in xrange(len(nodes))])
        print ndist
        if ndist < dist:
            tangle = crotangle
            dist = ndist
        return dist, tangle

    for i in xrange(1,nbtest):
        crotangle = rotangle*i
        dist, tangle = check_rot_angle(crotangle, dist, tangle)

    nbtest = 10
    rotangle = 2 * rotangle / nbtest
    gtangle = tangle
    for i in xrange(1,nbtest/2):
        crotangle = gtangle - rotangle*i
        dist, tangle = check_rot_angle(crotangle, dist, tangle)
    for i in xrange(1,nbtest/2):
        crotangle = gtangle + rotangle*i
        dist, tangle = check_rot_angle(crotangle, dist, tangle)

    if tangle != 0:
        print 'select', degrees(tangle), dist
        npos = dict()
        m = pgl.Matrix3.axisRotation(p_edir[0],tangle)
        for vid, pos in mtg.property('position').items():
            npos[vid] = m * pos
        mtg.property('position').update(npos)
コード例 #3
0
ファイル: alignement.py プロジェクト: openalea/plantscan3d
def optimizeAlignementPosition(points,
                               mtg,
                               distanceratio=10,
                               nbtests=10,
                               p_edir=None):
    from mtgmanip import mtg2pgltree
    import openalea.plantgl.all as pgl
    from pointprocessing import np_inertia_axis
    from math import pi, degrees

    nodes, parents, vertex2node = mtg2pgltree(mtg)
    dist = pgl.average_distance_to_shape(points, nodes, parents,
                                         [0 for i in xrange(len(nodes))])
    print dist

    if p_edir is None:
        p_eval, p_edir, p_center = np_inertia_axis(points)

    mtgextent = pgl.Point3Array(mtg.property('position').values()).getExtent()

    def test_shift(cshift, dist, tshift):
        print 'test shift of', cshift, ':',
        nnodes = [p + cshift for p in nodes]
        ndist = pgl.average_distance_to_shape(points, nnodes, parents,
                                              [0 for j in xrange(len(nodes))])
        print ndist
        if ndist < dist:
            tshift = cshift
            dist = ndist
        return dist, tshift

    for i in xrange(3):
        tshift = None
        unitshift = mtgextent[i] * distanceratio / 1000.
        for t in xrange(1, nbtests):
            cshift = p_edir[i] * t * unitshift
            dist, tshift = test_shift(cshift, dist, tshift)

        for t in xrange(1, nbtests):
            cshift = -p_edir[i] * t * unitshift
            dist, tshift = test_shift(cshift, dist, tshift)

        if not tshift is None:
            print 'select', tshift, dist
            npos = dict()
            for vid, pos in mtg.property('position').items():
                npos[vid] = pos + tshift
            mtg.property('position').update(npos)
コード例 #4
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def optimizeAlignementPosition(points, mtg, distanceratio = 10, nbtests = 10, p_edir = None):
    from mtgmanip import mtg2pgltree
    import openalea.plantgl.all  as pgl
    from pointprocessing import np_inertia_axis
    from math import pi, degrees

    nodes, parents, vertex2node = mtg2pgltree(mtg)
    dist = pgl.average_distance_to_shape(points, nodes, parents, [0 for i in xrange(len(nodes))])
    print dist

    if p_edir is None:
        p_eval, p_edir, p_center  = np_inertia_axis(points)

    
    mtgextent = pgl.Point3Array(mtg.property('position').values()).getExtent()

    def test_shift(cshift, dist, tshift):
        print 'test shift of',cshift,':',
        nnodes = [p + cshift for p in nodes]
        ndist = pgl.average_distance_to_shape(points, nnodes, parents, [0 for j in xrange(len(nodes))])
        print ndist
        if ndist < dist:
            tshift = cshift
            dist = ndist
        return dist, tshift

    for i in xrange(3):
        tshift = None
        unitshift = mtgextent[i]  * distanceratio / 1000.
        for t in xrange(1, nbtests):
            cshift = p_edir[i]*t*unitshift
            dist, tshift = test_shift(cshift, dist, tshift)

        for t in xrange(1, nbtests):
            cshift = -p_edir[i]*t*unitshift
            dist, tshift = test_shift(cshift, dist, tshift)

        if not tshift is None:
            print 'select', tshift, dist
            npos = dict()
            for vid, pos in mtg.property('position').items():
                npos[vid] = pos + tshift
            mtg.property('position').update(npos)
コード例 #5
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def alignGlobally(points, mtg, verbose = False):
    import openalea.plantgl.all  as pgl
    import numpy as np
    from pointprocessing import np_inertia_axis

    mtgpoints = pgl.Point3Array(mtg.property('position').values())


    axispoints = np_inertia_axis(points,    verbose=verbose)
    axismtg    = np_inertia_axis(mtgpoints, verbose=verbose)

    p_eval, p_edir, p_center = axispoints
    m_eval, m_edir, m_center = axismtg

    pointextent = pgl.norm(points.getExtent())
    mtgextent   = pgl.norm(mtgpoints.getExtent())
    scaleratio  = mtgextent / pointextent

    from math import log
    scale = 1./pow(10, round(log(scaleratio,10)))

    normalizeorientation = True
    checkorientation = True


    if normalizeorientation:
            def normalize_frame(edir):
                a, b = edir[0], edir[1]
                c = np.cross(a,b)
                return np.array([a, np.cross(c,a), c])

            p_edir = normalize_frame(p_edir)
            m_edir = normalize_frame(m_edir)

    if verbose:
        print 'Point center :', p_center
        print 'MTG center   :', m_center
        print 'Point axis   :',p_edir
        print 'MTG axis     :',m_edir
        print 'Point variance :',p_eval
        print 'MTG variance :',m_eval

    def transform(v,t_edir):
        v = (v - m_center) 
        nval = [ pgl.dot(v,ed) for ed in m_edir]
        nv = sum([val * ed for val, ed in zip(nval, t_edir)],pgl.Vector3(0,0,0))
        return (nv + p_center)

    ppos = mtg.property('position').copy()

    npos1 = dict([(vid, transform(pos, p_edir)) for vid, pos in ppos.items()])
    #npos1 = dict([(vid, pos*scale) for vid, pos in ppos.items()])
    mtg.property('position').update(npos1)

    if checkorientation:
        if verbose: print 'check orientation'
        from mtgmanip import mtg2pgltree
        nodes, parents, vertex2node = mtg2pgltree(mtg)
        dist1 = pgl.average_distance_to_shape(points, nodes, parents, [0 for i in xrange(len(nodes))])
    
        if verbose: print 'check flipped orientation'
        p_edir2 = np.array([-p_edir[0], -p_edir[1], np.cross(-p_edir[0], -p_edir[1])])
        npos2 = dict([(vid, transform(pos, p_edir2)) for vid, pos in ppos.items()])
        mtg.property('position').update(npos2)

        nodes, parents, vertex2node = mtg2pgltree(mtg)
        dist2 = pgl.average_distance_to_shape(points, nodes, parents, [0 for i in xrange(len(nodes))])

        if verbose: print dist1, dist2
        if dist1 < dist2:
            if verbose: print 'Use first orientation'
            mtg.property('position').update(npos1)
        else:
            if verbose: print 'Use flipped orientation'
コード例 #6
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def optimizeAlignementAll(points, mtg):
    from pointprocessing import np_inertia_axis
    scale_and_center(points, mtg)
    p_eval, p_edir, p_center  = np_inertia_axis(points)
    optimizeAlignementOrientation(points, mtg, p_edir)
    optimizeAlignementPosition(points, mtg, p_edir=p_edir)
コード例 #7
0
ファイル: alignement.py プロジェクト: openalea/plantscan3d
def alignGlobally(points, mtg, verbose=False):
    import openalea.plantgl.all as pgl
    import numpy as np
    from pointprocessing import np_inertia_axis

    mtgpoints = pgl.Point3Array(mtg.property('position').values())

    axispoints = np_inertia_axis(points, verbose=verbose)
    axismtg = np_inertia_axis(mtgpoints, verbose=verbose)

    p_eval, p_edir, p_center = axispoints
    m_eval, m_edir, m_center = axismtg

    pointextent = pgl.norm(points.getExtent())
    mtgextent = pgl.norm(mtgpoints.getExtent())
    scaleratio = mtgextent / pointextent

    from math import log
    scale = 1. / pow(10, round(log(scaleratio, 10)))

    normalizeorientation = True
    checkorientation = True

    if normalizeorientation:

        def normalize_frame(edir):
            a, b = edir[0], edir[1]
            c = np.cross(a, b)
            return np.array([a, np.cross(c, a), c])

        p_edir = normalize_frame(p_edir)
        m_edir = normalize_frame(m_edir)

    if verbose:
        print 'Point center :', p_center
        print 'MTG center   :', m_center
        print 'Point axis   :', p_edir
        print 'MTG axis     :', m_edir
        print 'Point variance :', p_eval
        print 'MTG variance :', m_eval

    def transform(v, t_edir):
        v = (v - m_center)
        nval = [pgl.dot(v, ed) for ed in m_edir]
        nv = sum([val * ed for val, ed in zip(nval, t_edir)],
                 pgl.Vector3(0, 0, 0))
        return (nv + p_center)

    ppos = mtg.property('position').copy()

    npos1 = dict([(vid, transform(pos, p_edir)) for vid, pos in ppos.items()])
    #npos1 = dict([(vid, pos*scale) for vid, pos in ppos.items()])
    mtg.property('position').update(npos1)

    if checkorientation:
        if verbose: print 'check orientation'
        from mtgmanip import mtg2pgltree
        nodes, parents, vertex2node = mtg2pgltree(mtg)
        dist1 = pgl.average_distance_to_shape(points, nodes, parents,
                                              [0 for i in xrange(len(nodes))])

        if verbose: print 'check flipped orientation'
        p_edir2 = np.array(
            [-p_edir[0], -p_edir[1],
             np.cross(-p_edir[0], -p_edir[1])])
        npos2 = dict([(vid, transform(pos, p_edir2))
                      for vid, pos in ppos.items()])
        mtg.property('position').update(npos2)

        nodes, parents, vertex2node = mtg2pgltree(mtg)
        dist2 = pgl.average_distance_to_shape(points, nodes, parents,
                                              [0 for i in xrange(len(nodes))])

        if verbose: print dist1, dist2
        if dist1 < dist2:
            if verbose: print 'Use first orientation'
            mtg.property('position').update(npos1)
        else:
            if verbose: print 'Use flipped orientation'
コード例 #8
0
ファイル: alignement.py プロジェクト: openalea/plantscan3d
def optimizeAlignementAll(points, mtg):
    from pointprocessing import np_inertia_axis
    scale_and_center(points, mtg)
    p_eval, p_edir, p_center = np_inertia_axis(points)
    optimizeAlignementOrientation(points, mtg, p_edir)
    optimizeAlignementPosition(points, mtg, p_edir=p_edir)