def __init__(self, vt, ft, tex_res, bgcolor=np.zeros(3)):
vt3d = np.dstack(
(vt[:, 0] - 0.5, 1 - vt[:, 1] - 0.5, np.zeros(vt.shape[0])))[0]
ortho = OrthoProjectPoints(rt=np.zeros(3),
t=np.zeros(3),
near=-1,
far=1,
left=-0.5,
right=0.5,
bottom=-0.5,
top=0.5,
width=tex_res,
height=tex_res)
self.tex_res = tex_res
self.f = ft
self.rn_tex = OrthoTexturedRenderer(v=vt3d,
f=ft,
ortho=ortho,
vc=np.ones_like(vt3d),
bgcolor=bgcolor)
self.rn_vis = OrthoColoredRenderer(v=vt3d,
f=ft,
ortho=ortho,
vc=np.ones_like(vt3d),
bgcolor=np.zeros(3),
num_channels=1)
self.bgcolor = bgcolor
self.iso_mask = np.array(self.rn_vis.r)
class VisibilityRenderer:
def __init__(self, vt, ft, tex_res, f):
ortho = OrthoProjectPoints(rt=np.zeros(3),
t=np.zeros(3),
near=-1,
far=1,
left=-0.5,
right=0.5,
bottom=-0.5,
top=0.5,
width=tex_res,
height=tex_res)
vt3d = np.dstack(
(vt[:, 0] - 0.5, 1 - vt[:, 1] - 0.5, np.zeros(vt.shape[0])))[0]
vt3d = vt3d[ft].reshape(-1, 3)
self.f = f
self.rn = OrthoColoredRenderer(bgcolor=np.zeros(3),
ortho=ortho,
v=vt3d,
f=np.arange(ft.size).reshape(-1, 3),
num_channels=1)
def render(self, vertex_visibility):
vc = vertex_visibility.reshape(-1, 1)
vc = np.hstack((vc, vc, vc))
self.rn.set(vc=vc[self.f].reshape(-1, 3))
return np.array(self.rn.r)
def mask(self):
self.rn.set(vc=np.ones_like(self.rn.v))
return np.array(self.rn.r)
class IsoColoredRenderer:
def __init__(self, vt, ft, f, tex_res):
ortho = OrthoProjectPoints(rt=np.zeros(3),
t=np.zeros(3),
near=-1,
far=1,
left=-0.5,
right=0.5,
bottom=-0.5,
top=0.5,
width=tex_res,
height=tex_res)
vt3d = np.dstack(
(vt[:, 0] - 0.5, 1 - vt[:, 1] - 0.5, np.zeros(vt.shape[0])))[0]
vt3d = vt3d[ft].reshape(-1, 3)
self.f = f
self.rn = OrthoColoredRenderer(bgcolor=np.zeros(3),
ortho=ortho,
v=vt3d,
f=np.arange(ft.size).reshape(-1, 3))
def render(self, vc):
vc = np.atleast_3d(vc)
if vc.shape[2] == 1:
vc = np.hstack((vc, vc, vc))
self.rn.set(vc=vc[self.f].reshape(-1, 3))
return np.array(self.rn.r)
def __init__(self, vt, ft, tex_res, f):
ortho = OrthoProjectPoints(rt=np.zeros(3), t=np.zeros(3), near=-1, far=1, left=-0.5, right=0.5, bottom=-0.5,
top=0.5, width=tex_res, height=tex_res)
vt3d = np.dstack((vt[:, 0] - 0.5, 1 - vt[:, 1] - 0.5, np.zeros(vt.shape[0])))[0]
vt3d = vt3d[ft].reshape(-1, 3)
self.f = f
self.rn = OrthoColoredRenderer(bgcolor=np.zeros(3), ortho=ortho, v=vt3d, f=np.arange(ft.size).reshape(-1, 3),
num_channels=1)
class Isomapper():
def __init__(self, vt, ft, f, tex_res, bgcolor=np.zeros(3)):
vt3d = np.dstack(
(vt[:, 0] - 0.5, 1 - vt[:, 1] - 0.5, np.zeros(vt.shape[0])))[0]
ortho = OrthoProjectPoints(rt=np.zeros(3),
t=np.zeros(3),
near=-1,
far=1,
left=-0.5,
right=0.5,
bottom=-0.5,
top=0.5,
width=tex_res,
height=tex_res)
self.tex_res = tex_res
self.f = ft
self.ft = f
self.rn_tex = OrthoTexturedRenderer(v=vt3d,
f=ft,
ortho=ortho,
vc=np.ones_like(vt3d),
bgcolor=bgcolor)
self.rn_vis = OrthoColoredRenderer(v=vt3d,
f=ft,
ortho=ortho,
vc=np.ones_like(vt3d),
bgcolor=np.zeros(3),
num_channels=1)
self.bgcolor = bgcolor
self.iso_mask = np.array(self.rn_vis.r)
def render(self, frame, proj_v, visible_faces=None):
h, w, _ = np.atleast_3d(frame).shape
v2d = proj_v.r
v2d_as_vt = np.dstack((v2d[:, 0] / w, 1 - v2d[:, 1] / h))[0]
self.rn_tex.set(texture_image=frame, vt=v2d_as_vt, ft=self.ft)
tex = np.array(self.rn_tex.r)
if visible_faces is not None:
self.rn_vis.set(f=self.f[visible_faces])
mask = np.atleast_3d(self.rn_vis.r)
tex = mask * tex + (1 - mask) * self.bgcolor
return tex
class Isomapper():
def __init__(self, vt, ft, tex_res, bgcolor=np.zeros(3)):
vt3d = np.dstack(
(vt[:, 0] - 0.5, 1 - vt[:, 1] - 0.5, np.zeros(vt.shape[0])))[0]
ortho = OrthoProjectPoints(rt=np.zeros(3),
t=np.zeros(3),
near=-1,
far=1,
left=-0.5,
right=0.5,
bottom=-0.5,
top=0.5,
width=tex_res,
height=tex_res)
self.tex_res = tex_res
self.f = ft
self.rn_tex = OrthoTexturedRenderer(v=vt3d,
f=ft,
ortho=ortho,
vc=np.ones_like(vt3d),
bgcolor=bgcolor)
self.rn_vis = OrthoColoredRenderer(v=vt3d,
f=ft,
ortho=ortho,
vc=np.ones_like(vt3d),
bgcolor=np.zeros(3),
num_channels=1)
self.bgcolor = bgcolor
self.iso_mask = np.array(self.rn_vis.r)
def render(self,
frame,
proj_v,
f,
visible_faces=None,
inpaint=True,
inpaint_segments=None):
h, w, _ = np.atleast_3d(frame).shape
v2d = proj_v.r
v2d_as_vt = np.dstack((v2d[:, 0] / w, 1 - v2d[:, 1] / h))[0]
self.rn_tex.set(texture_image=frame, vt=v2d_as_vt, ft=f)
tex = np.array(self.rn_tex.r)
if visible_faces is not None:
self.rn_vis.set(f=self.f[visible_faces])
if inpaint:
visible = cv2.erode(
self.rn_vis.r,
np.ones((self.tex_res / 100, self.tex_res / 100)))
if inpaint_segments is None:
tex = np.atleast_3d(self.iso_mask) * cv2.inpaint(
np.uint8(tex * 255), np.uint8(
(1 - visible) * 255), 3, cv2.INPAINT_TELEA) / 255.
else:
tmp = np.zeros_like(tex)
for i in range(np.max(inpaint_segments) + 1):
seen = np.logical_and(visible, inpaint_segments == i)
part = cv2.inpaint(np.uint8(
tex * 255), np.uint8(
(1 - seen) * 255), 3, cv2.INPAINT_TELEA) / 255.
tmp[inpaint_segments == i] = part[inpaint_segments ==
i]
tex = np.atleast_3d(self.iso_mask) * tmp
else:
mask = np.atleast_3d(self.rn_vis.r)
tex = mask * tex + (1 - mask) * self.bgcolor
return tex