def from_point_cloud(cls, point_cloud, angle=0, label=None, id=None):
try:
lower_z_boundary = np.min(point_cloud[:, 2])
height = np.max(point_cloud[:, 2]) - lower_z_boundary
except IndexError:
lower_z_boundary = 0
height = None
pcloud_2d = point_cloud[:, :2]
rotated_point_cloud = rotate_point_cloud(pcloud_2d, -angle)
upper_boundary = np.max(rotated_point_cloud, axis=0)
lower_boundary = np.min(rotated_point_cloud, axis=0)
point_array = np.array(
((upper_boundary[0], upper_boundary[1]), (upper_boundary[0],
lower_boundary[1]),
(lower_boundary[0], lower_boundary[1]), (lower_boundary[0],
upper_boundary[1])))
point_array = rotate_point_cloud(point_array, angle)
position = np.append((upper_boundary + lower_boundary) * .5,
lower_z_boundary)
return cls(point_array,
label=label,
id=id,
angle=angle,
position=position,
height=height)
def build_scene(self):
scene_vertices, scene_polygons = [], []
polygon_count = 0
for obj in self.scene:
vertices, polygons = self.models[obj.label]
vertices = rotate_point_cloud(vertices, obj.angle)
vertices += obj.position
scene_vertices.append(vertices)
scene_polygons.append(polygons + polygon_count)
polygon_count += len(vertices)
try:
scene_vertices = np.vstack(scene_vertices)
scene_polygons = np.vstack(scene_polygons)
except ValueError:
pass
return scene_vertices, scene_polygons
def sample_usage_gpu():
from data_loaders.load_3d_models import load_obj_file
from utilities.geometry_calculations import rotate_point_cloud
import os
vertices, polygons = load_obj_file(
os.path.expanduser("~/Downloads/3d models/Porsche_911_GT2.obj"))
vertices = rotate_point_cloud(vertices, -.5)
point_cloud = Lidar(delta_azimuth=2 * np.pi / 3000,
delta_elevation=np.pi / 800,
position=(0, -10,
1)).sample_3d_model_gpu(vertices, polygons)
print(point_cloud)
print(len(point_cloud))
print(np.sum(point_cloud[:, 2]))
import pptk
v = pptk.viewer(point_cloud[np.any(point_cloud != 0)])
v.set(point_size=.003)
def sample_usage_with_texture_gpu():
from data_loaders.load_3d_models import load_obj_file
from utilities.geometry_calculations import rotate_point_cloud
import os
obj_file = os.path.expanduser("~/Downloads/3d models/Porsche_911_GT2.obj")
vertices, polygons, uv_coordinates, uv_coordinate_indices = load_obj_file(
obj_file, texture=True)
vertices = rotate_point_cloud(vertices, -.5)
point_cloud, ray_hit_uv = \
Lidar(delta_azimuth=2 * np.pi / 3000,
delta_elevation=np.pi / 800,
position=(0, -10, 1)).sample_3d_model_with_texture_gpu(vertices,
polygons,
uv_coordinates,
uv_coordinate_indices)
print(len(ray_hit_uv[np.any(ray_hit_uv != 0, axis=1)]))
print(len(point_cloud[np.any(point_cloud != 0, axis=1)]))
import pptk
v = pptk.viewer(point_cloud[np.any(point_cloud != 0, axis=1)])
v.set(point_size=.003)