def PreparePcForGogma(scanApath, scanBpath):
print "preparing for Gogma"
print scanApath
print scanBpath
plyA = PlyParse()
plyA.parse(scanApath)
pcA = plyA.getPc()
plyB = PlyParse()
plyB.parse(scanBpath)
pcB = plyB.getPc()
with open(re.sub(".ply",".txt",scanApath),'w') as f:
print pcA.shape
np.random.shuffle(pcA)
np.savetxt(f, pcA)
with open(re.sub(".ply",".txt",scanBpath),'w') as f:
np.random.shuffle(pcB)
np.savetxt(f, pcB)
def DisplayPcs(scanApath, scanBpath, q,t, plotCosies, stopToDisplay,
displayNormals):
from js.data.plyParse import PlyParse
from js.utils.plot.colors import colorScheme
from js.geometry.rotations import plotCosy
import mayavi.mlab as mlab
colors = colorScheme("label")
print "parsing", scanApath
plyA = PlyParse();
plyA.parse(scanApath)
pcA = plyA.getPc()
nA = plyA.getNormals()
print "parsing", scanBpath
plyB = PlyParse();
plyB.parse(scanBpath)
pcB = plyB.getPc()
nB = plyB.getNormals()
R = q.toRot().R
figm = mlab.figure(bgcolor=(1,1,1))
mlab.points3d(pcA[:,0], pcA[:,1], pcA[:,2], mode="point",
color=colors[0])
# if plotCosies:
# plotCosy(figm, np.eye(3), np.zeros(3), 0.5)
# plotCosy(figm, R.T, -R.T.dot(t), 0.5)
R = R.T
t = -R.dot(t)
pcB = (1.001*R.dot(pcB.T)).T + t
nB = (1.001*R.dot(nB.T)).T
mlab.points3d(pcB[:,0], pcB[:,1], pcB[:,2], mode="point",
color=colors[1])
if displayNormals:
figm = mlab.figure(bgcolor=(1,1,1))
mlab.points3d(nA[:,0], nA[:,1], nA[:,2], mode="point",
color=colors[0])
mlab.points3d(nB[:,0], nB[:,1], nB[:,2], mode="point",
color=colors[1])
if stopToDisplay:
mlab.show(stop=True)
def PreparePcForGoICP(scanApath, scanBpath):
plyA = PlyParse()
plyA.parse(scanApath)
pcA = plyA.getPc()
# for i in range(3):
# pcA[i,:] = 2.*(pcA[i,:]-np.min(pcA[i,:]))/(np.max(pcA[i,:])-np.min(pcA[i,:])) - 1.
plyB = PlyParse()
plyB.parse(scanBpath)
pcB = plyB.getPc()
# pcA -= np.mean(pcA, axis=0)
# pcB -= np.mean(pcB, axis=0)
# scale = max([np.max(pcA), np.max(pcB), np.max(-pcA), np.max(-pcB)])
# pcA *= 1./scale
# pcB *= 1./scale
# print "min/maxes after scaling", [np.max(pcA), np.max(pcB), np.min(pcA), np.min(pcB)]
with open(re.sub(".ply",".txt",scanApath),'w') as f:
print pcA.shape
np.random.shuffle(pcA)
if pcA.shape[0] > 30000:
pcA = pcA[:30000,:]
print pcA.shape
print pcA.shape
f.write("{}\n".format(pcA.shape[0]))
np.savetxt(f, pcA)
with open(re.sub(".ply",".txt",scanBpath),'w') as f:
np.random.shuffle(pcB)
print pcB.shape
if pcB.shape[0] > 30000:
pcB = pcB[:30000,:]
f.write("{}\n".format(pcB.shape[0]))
np.savetxt(f, pcB)
return 1.
def DisplayPcs(scanApath, scanBpath, q, t, plotCosies, stopToDisplay,
displayNormals):
from js.data.plyParse import PlyParse
from js.utils.plot.colors import colorScheme
from js.geometry.rotations import plotCosy
import mayavi.mlab as mlab
colors = colorScheme("label")
print "parsing", scanApath
plyA = PlyParse()
plyA.parse(scanApath)
pcA = plyA.getPc()
nA = plyA.getNormals()
print "parsing", scanBpath
plyB = PlyParse()
plyB.parse(scanBpath)
pcB = plyB.getPc()
nB = plyB.getNormals()
R = q.toRot().R
figm = mlab.figure(bgcolor=(1, 1, 1))
mlab.points3d(pcA[:, 0],
pcA[:, 1],
pcA[:, 2],
mode="point",
color=colors[0])
# if plotCosies:
# plotCosy(figm, np.eye(3), np.zeros(3), 0.5)
# plotCosy(figm, R.T, -R.T.dot(t), 0.5)
R = R.T
t = -R.dot(t)
pcB = (1.001 * R.dot(pcB.T)).T + t
nB = (1.001 * R.dot(nB.T)).T
mlab.points3d(pcB[:, 0],
pcB[:, 1],
pcB[:, 2],
mode="point",
color=colors[1])
if displayNormals:
figm = mlab.figure(bgcolor=(1, 1, 1))
mlab.points3d(nA[:, 0],
nA[:, 1],
nA[:, 2],
mode="point",
color=colors[0])
mlab.points3d(nB[:, 0],
nB[:, 1],
nB[:, 2],
mode="point",
color=colors[1])
if stopToDisplay:
mlab.show(stop=True)
colors = colorScheme("label")
q_star = np.array([0.707107, 0.381209, -0.0583624, 0.592683])
cfgBunnyZipper = {"name":"bun_zipper", "lambdaS3": [60], "lambdaR3": 0.001}
cfg = cfgBunnyZipper
if cfg["name"] == "bun_zipper":
scans = ['../data/bunny_rnd/bun_zipper.ply',
'../data/bunny_rnd/bun_zipper_angle_90_translation_0.3.ply']
gt = ['../data/bunny_rnd/bun_zipper_angle_90_translation_0.3.ply_TrueTransformation_angle_90_translation_0.3.csv']
scanApath = scans[0]
scanBpath = scans[1]
nameA = os.path.splitext(os.path.split(scanApath)[1])[0]
nameB = os.path.splitext(os.path.split(scanBpath)[1])[0]
plyA = PlyParse(); plyA.parse(scanApath); pcA = plyA.getPc()
plyB = PlyParse(); plyB.parse(scanBpath); pcB = plyB.getPc()
pcA -= pcA.mean(axis=0)
pcB -= pcB.mean(axis=0)
ranges = [-np.abs(pcA[:,0]).max(), np.abs(pcA[:,0]).max(),
-np.abs(pcA[:,1]).max(), np.abs(pcA[:,1]).max(),
-np.abs(pcA[:,2]).max(), np.abs(pcA[:,2]).max()]
#mlab.points3d(pcA[:,0], pcA[:,1], pcA[:,2], mode="point",
# color=colors[0])
#mlab.view(azimuth=90, elevation=30, distance=0.6, roll=0, focalpoint=
# np.array([ 0.0017717 , 0.00829888, -0.00625299]))
#print mlab.view()
#mlab.show(stop=True)
if showUntransformed or showTransformed:
import mayavi.mlab as mlab
#figm = mlab.figure(bgcolor=(1,1,1))
#ply = PlyParse();
#ply.parse(scans[0])
#pc = ply.getPc()
#rgb = ply.rgb
#PlotShadedColoredPc(pc, rgb, np.array([255,0,0]),0.6)
#mlab.show(stop=True)
if showUntransformed:
figm = mlab.figure(bgcolor=(1, 1, 1))
for i in range(len(scans)):
scanPath = scans[i]
ply = PlyParse()
ply.parse(scanPath)
pc = ply.getPc()
n = ply.n
mlab.points3d(pc[:, 0],
pc[:, 1],
pc[:, 2],
mode="point",
color=colors[i % len(colors)])
mlab.quiver3d(pc[:, 0],
pc[:, 1],
pc[:, 2],
n[:, 0],
n[:, 1],
n[:, 2],
color=colors[(2 + i) % len(colors)],
import mayavi.mlab as mlab
#figm = mlab.figure(bgcolor=(1,1,1))
#ply = PlyParse();
#ply.parse(scans[0])
#pc = ply.getPc()
#rgb = ply.rgb
#PlotShadedColoredPc(pc, rgb, np.array([255,0,0]),0.6)
#mlab.show(stop=True)
if showUntransformed:
figm = mlab.figure(bgcolor=(1,1,1))
for i in range(len(scans)):
scanPath = scans[i]
ply = PlyParse();
ply.parse(scanPath)
pc = ply.getPc()
n = ply.n
mlab.points3d(pc[:,0], pc[:,1], pc[:,2], mode="point",
color=colors[i%len(colors)])
mlab.quiver3d(pc[:,0], pc[:,1], pc[:,2],n[:,0], n[:,1], n[:,2],
color=colors[(2+i)%len(colors)],mask_points=20,
line_width=1., scale_factor=0.01)
print pc.max()
print pc.min()
# mlab.points3d(n[:,0]+i*2.3, n[:,1], n[:,2], mode="point",
# color=colors[(2+i)%len(colors)])
mlab.show(stop=True)
colors = colorScheme("label")
cfgBunnyZipper = {"name":"bun_zipper", "lambdaS3": [60], "lambdaR3": 0.001}
cfg = cfgBunnyZipper
if cfg["name"] == "bun_zipper":
scans = ['../data/bunny_rnd/bun_zipper.ply',
'../data/bunny_rnd/bun_zipper_angle_90_translation_0.3.ply']
gt = ['../data/bunny_rnd/bun_zipper_angle_90_translation_0.3.ply_TrueTransformation_angle_90_translation_0.3.csv']
scanApath = scans[0]
scanBpath = scans[1]
nameA = os.path.splitext(os.path.split(scanApath)[1])[0]
nameB = os.path.splitext(os.path.split(scanBpath)[1])[0]
plyA = PlyParse(); plyA.parse(scanApath); pcA = plyA.getPc()
plyB = PlyParse(); plyB.parse(scanBpath); pcB = plyB.getPc()
ranges = [-np.abs(pcA[:,0]).max()*2, np.abs(pcA[:,0]).max()*2,
-np.abs(pcA[:,1]).max()*2, np.abs(pcA[:,1]).max()*2,
-np.abs(pcA[:,2]).max()*2, np.abs(pcA[:,2]).max()*2]
#mlab.points3d(pcA[:,0], pcA[:,1], pcA[:,2], mode="point",
# color=colors[0])
#mlab.view(azimuth=90, elevation=30, distance=0.6, roll=0, focalpoint=
# np.array([ 0.0017717 , 0.00829888, -0.00625299]))
#print mlab.view()
#mlab.show(stop=True)
path = "./bb_nodes_per_iteration_R3_bunnyFull.csv"
ts, tetras, props = LoadNodesPerIteration(path)