def pre_draw(viewer):
global anim_t
bc = igl.eigen.MatrixXd(b.size(), V.cols())
for i in range(0, b.size()):
bc.setRow(i, V.row(b[i]))
if S[b[i]] == 0:
r = mid[0] * 0.25
bc[i, 0] += r * sin(0.5 * anim_t * 2. * pi)
bc[i, 1] = bc[i, 1] - r + r * cos(pi + 0.5 * anim_t * 2. * pi)
elif S[b[i]] == 1:
r = mid[1] * 0.15
bc[i, 1] = bc[i, 1] + r + r * cos(pi + 0.15 * anim_t * 2. * pi)
bc[i, 2] -= r * sin(0.15 * anim_t * 2. * pi)
elif S[b[i]] == 2:
r = mid[1] * 0.15
bc[i, 2] = bc[i, 2] + r + r * cos(pi + 0.35 * anim_t * 2. * pi)
bc[i, 0] += r * sin(0.35 * anim_t * 2. * pi)
igl.arap_solve(bc, arap_data, U)
viewer.data().set_vertices(U)
viewer.data().compute_normals()
if viewer.core.is_animating:
anim_t += anim_t_dir
return False
def pre_draw(viewer):
global anim_t
bc = igl.eigen.MatrixXd(b.size(), V.cols())
for i in range(0, b.size()):
bc.setRow(i, V.row(b[i]))
if S[b[i]] == 0:
r = mid[0] * 0.25
bc[i, 0] += r * sin(0.5 * anim_t * 2. * pi)
bc[i, 1] = bc[i, 1] - r + r * cos(pi + 0.5 * anim_t * 2. * pi)
elif S[b[i]] == 1:
r = mid[1] * 0.15
bc[i, 1] = bc[i, 1] + r + r * cos(pi + 0.15 * anim_t * 2. * pi)
bc[i, 2] -= r * sin(0.15 * anim_t * 2. * pi)
elif S[b[i]] == 2:
r = mid[1] * 0.15
bc[i, 2] = bc[i, 2] + r + r * cos(pi + 0.35 * anim_t * 2. * pi)
bc[i, 0] += r * sin(0.35 * anim_t * 2. * pi)
igl.arap_solve(bc, arap_data, U)
viewer.data().set_vertices(U)
viewer.data().compute_normals()
if viewer.core.is_animating:
anim_t += anim_t_dir
return False
# Add dynamic regularization to avoid to specify boundary conditions arap_data = igl.ARAPData() arap_data.with_dynamics = True b = igl.eigen.MatrixXi.Zero(0, 0) bc = igl.eigen.MatrixXd.Zero(0, 0) # Initialize ARAP arap_data.max_iter = 100 # 2 means that we're going to *solve* in 2d igl.arap_precomputation(V, F, 2, b, arap_data) # Solve arap using the harmonic map as initial guess V_uv = igl.eigen.MatrixXd(initial_guess) # important, make a copy of it! igl.arap_solve(bc, arap_data, V_uv) # Scale UV to make the texture more clear V_uv *= 20 # Plot the mesh viewer = igl.glfw.Viewer() viewer.data().set_mesh(V, F) viewer.data().set_uv(V_uv) viewer.callback_key_down = key_down # Disable wireframe viewer.data().show_lines = False # Draw checkerboard texture viewer.data().show_texture = True
# Add dynamic regularization to avoid to specify boundary conditions arap_data = igl.ARAPData() arap_data.with_dynamics = True b = igl.eigen.MatrixXi.Zero(0, 0) bc = igl.eigen.MatrixXd.Zero(0, 0) # Initialize ARAP arap_data.max_iter = 100 # 2 means that we're going to *solve* in 2d igl.arap_precomputation(V, F, 2, b, arap_data) # Solve arap using the harmonic map as initial guess V_uv = igl.eigen.MatrixXd(initial_guess) # important, make a copy of it! igl.arap_solve(bc, arap_data, V_uv) # Scale UV to make the texture more clear V_uv *= 20 # Plot the mesh viewer = igl.viewer.Viewer() viewer.data.set_mesh(V, F) viewer.data.set_uv(V_uv) viewer.callback_key_down = key_down # Disable wireframe viewer.core.show_lines = False # Draw checkerboard texture viewer.core.show_texture = True
def LaplacianDeform(depth_in, handle_3d, intrinsic=None, vis=False):
"""depth_ctrl is a reference Nx3 depth map
Args:
depth_in: the depth predicted by network
handle_3d: the control sparse points, in [x, y, z]
intrinsic: the intrinsic matrix
vis: whether visualize using igl
Output:
depth: the warpped depth through asap
"""
height, width = depth_in.shape[0], depth_in.shape[1]
depth_in, y, x, handle_3d = ReScale(depth_in,
handle_3d,
intrinsic,
get_image_coor=True)
point_3d = uts_3d.depth2xyz(depth_in, intrinsic, False)
select_id = y * width + x
# test_id = range(10)
# select_id = select_id[test_id]
one_hot = np.zeros((point_3d.shape[0]), dtype=np.int32)
one_hot[select_id] = 1
mesh_idx = uts_3d.grid_mesh(height, width)
V = igl.eigen.MatrixXd(np.float64(point_3d))
U = V
F = igl.eigen.MatrixXi(np.int32(mesh_idx))
S = igl.eigen.MatrixXd(np.float64(one_hot))
b = igl.eigen.MatrixXi(np.int32(select_id))
P_origin = igl.eigen.MatrixXd(np.float64(point_3d[select_id, :]))
P = igl.eigen.MatrixXd(np.float64(handle_3d))
bc = igl.eigen.MatrixXd(np.float64(handle_3d))
arap_data = igl.ARAPData()
# Set color based on selection
# C = igl.eigen.MatrixXd(F.rows(), 3)
# purple = igl.eigen.MatrixXd([[80.0 / 255.0, 64.0 / 255.0, 255.0 / 255.0]])
# gold = igl.eigen.MatrixXd([[255.0 / 255.0, 228.0 / 255.0, 58.0 / 255.0]])
# pdb.set_trace()
# for f in range(0, F.rows()):
# if S[F[f, 0]] > 0 or S[F[f, 1]] > 0 or S[F[f, 2]] > 0:
# C.setRow(f, purple)
# else:
# C.setRow(f, gold)
# # Plot the mesh with pseudocolors
# viewer = igl.viewer.Viewer()
# viewer.data.set_mesh(V, F)
# viewer.data.set_colors(C)
# viewer.core.is_animating = False
# viewer.launch()
if vis:
viewer = igl.viewer.Viewer()
viewer.data.set_mesh(U, F)
viewer.data.add_points(P, igl.eigen.MatrixXd([[1, 0, 0]]))
viewer.core.is_animating = False
viewer.launch()
# start compute deform
arap_data.max_iter = 30
arap_data.ym = 450
igl.arap_precomputation(V, F, V.cols(), b, arap_data)
igl.arap_solve(bc, arap_data, U)
if vis:
viewer = igl.viewer.Viewer()
viewer.data.set_mesh(V, F)
# viewer.data.add_points(P_origin, igl.eigen.MatrixXd([[0, 0, 1]]))
# viewer.data.add_points(P, igl.eigen.MatrixXd([[0, 1, 0]]))
viewer.core.is_animating = False
viewer.launch()
point_3d_new = np.float32(np.array(U, dtype='float64', order='C'))
depth = uts_3d.xyz2depth(point_3d_new, intrinsic, depth_in.shape)
mask = depth <= 0
max_depth = np.max(depth)
depth_inpaint = cv2.inpaint(np.uint8(depth / max_depth * 255),
np.uint8(mask), 5, cv2.INPAINT_TELEA)
depth[mask] = np.float32(depth_inpaint[mask]) * max_depth / 255
return depth
