def gen_label(model_range, seg_range, swi_range, dis_range, rot_range, depth_and_vertex=True):
b = conf.zfar * conf.znear / (conf.znear - conf.zfar)
a = -b / conf.znear
# preparation
if depth_and_vertex:
seg_range = [-1] + seg_range
seg_color_map = distinct_colors(conf.num_classes)
renderer = GLRenderer(b'gen_label', (conf.width, conf.height), (0, 0), toTexture=True)
proj = glm.perspective(glm.radians(70), 1.0, conf.znear, conf.zfar)
for model in model_range:
vertex_color = None
for mesh_idx in range(conf.num_meshes[model]):
print('Generate label for model {} Mesh {}...'.format(model, mesh_idx))
mesh_path = conf.mesh_path(model, mesh_idx)
vertices, faces = load_mesh(mesh_path)
regularize_mesh(vertices, model)
faces = faces.reshape([faces.shape[0] * 3])
vertex_buffer = vertices[faces]
if vertex_color is None:
vertex_color = distinct_colors(vertices.shape[0])
vertex_color_buffer = (vertex_color[faces] / 255.0).astype(np.float32)
for seg_idx in seg_range:
# prepare segmentation color
if seg_idx != -1:
seg_path = conf.segmentation_path(model, seg_idx)
segmentation = np.load(seg_path)
seg_color_buffer = np.zeros([faces.shape[0], 3], np.float32)
face_colors = seg_color_map[segmentation] / 255.0
seg_color_buffer[2::3,:] = seg_color_buffer[1::3,:] = seg_color_buffer[0::3,:] = face_colors
for swi in swi_range:
for dis in dis_range:
for rot in rot_range:
mod = glm.identity()
mod = glm.rotate(mod, glm.radians(swi - conf.max_swi / 2), glm.vec3(0, 1, 0))
mod = glm.translate(mod, glm.vec3(0, 0, -dis / 100.0))
mod = glm.rotate(mod, glm.radians(rot), glm.vec3(0, 1, 0))
mvp = proj.dot(mod)
view_name = conf.view_name(swi, dis, rot)
if seg_idx == -1:
rgb, z = renderer.draw(vertex_buffer, vertex_color_buffer, mvp.T)
# save depth view
depth = ((conf.zfar - b / (z - a)) / (conf.zfar - conf.znear) * 255).astype(np.uint8)
depth_view_path = conf.depth_view_path(model, mesh_idx, view_name)
cv.imwrite(depth_view_path, depth)
# save vertex view
vertex_view_path = conf.vertex_view_path(model, mesh_idx, view_name)
cv.imwrite(vertex_view_path, rgb)
else:
rgb, z = renderer.draw(vertex_buffer, seg_color_buffer, mvp.T)
# save segmentation view
seg_view_path = conf.segmentation_view_path(model, mesh_idx, seg_idx, view_name)
cv.imwrite(seg_view_path, rgb)
def generate_mesh_feature(sess, input, output, mesh_path, flipyz=False):
b = conf.zfar * conf.znear / (conf.znear - conf.zfar)
a = -b / conf.znear
renderer = GLRenderer(b'generate_mesh_feature', (conf.width, conf.height),
(0, 0),
toTexture=True)
proj = glm.perspective(glm.radians(70), 1.0, conf.znear, conf.zfar)
vertices, faces = load_mesh(mesh_path)
vertices = regularize_mesh(vertices, flipyz)
faces = faces.reshape([faces.shape[0] * 3])
vertex_buffer = vertices[faces]
vertex_color = distinct_colors(vertices.shape[0])
vertex_color_buffer = (vertex_color[faces] / 255.0).astype(np.float32)
cnt = np.zeros([vertices.shape[0]], dtype=np.int32)
feat = np.zeros([vertices.shape[0], 16], dtype=np.float32)
swi = 35
dis = 200
for rot in range(0, 360, 15):
mod = glm.identity()
mod = glm.rotate(mod, glm.radians(swi - conf.max_swi / 2),
glm.vec3(0, 1, 0))
mod = glm.translate(mod, glm.vec3(0, 0, -dis / 100.0))
mod = glm.rotate(mod, glm.radians(rot), glm.vec3(0, 1, 0))
mvp = proj.dot(mod)
rgb, z = renderer.draw(vertex_buffer, vertex_color_buffer, mvp.T)
depth = ((conf.zfar - b / (z - a)) / (conf.zfar - conf.znear) *
255).astype(np.uint8)
features = sess.run(output,
feed_dict={
input: depth.reshape([1, 512, 512, 1])
}).reshape([512, 512, 16])
vertex = image_color2idx(rgb)
mask = vertex > 0
vertex = vertex[mask]
features = features[mask]
for i in range(vertex.shape[0]):
cnt[vertex[i] - 1] += 1
feat[vertex[i] - 1] += features[i]
for i in range(vertices.shape[0]):
if cnt[i] > 0:
feat[i] /= cnt[i]
return feat
def regularize_mesh_old(vertices, model):
tmp = np.ones([vertices.shape[0], 4], dtype=np.float32)
tmp[:, :3] = vertices
if model.startswith('SCAPE'):
m = glm.identity()
m = glm.rotate(m, glm.radians(90), glm.vec3(0, 0, 1))
m = glm.rotate(m, glm.radians(270), glm.vec3(1, 0, 0))
tmp = glm.transform(tmp, m)
elif model.startswith('MIT'):
m = glm.identity()
m = glm.rotate(m, glm.radians(90), glm.vec3(0, 1, 0))
tmp = glm.transform(tmp, m)
vertices[:, :] = tmp[:, :3]
mean = np.mean(vertices, 0)
vertices -= mean