def preprocess_windows(windows0, walls):
'''
both windows0 ad walls are standard: [xc, yc, zc, x_size, y_size, z_size, yaw]
'''
if DEBUG and False:
print('input')
show_all([windows0, walls])
#Bbox3D.draw_bboxes(walls, 'Z', False)
#Bbox3D.draw_bboxes(windows0, 'Z', False)
#print(f'windows0: \n{windows0}')
if len(windows0) == 0:
return windows0
windows1 = Bbox3D.define_walls_direction(windows0, 'Z', yx_zb=False)
#print(f'windows1: \n{windows0}')
win_bad_ids, wall_ids_for_bad_win = find_wall_ids_for_windows(
windows1, walls)
windows_bad = windows1[win_bad_ids].reshape(-1, 7)
walls_bw = walls[wall_ids_for_bad_win].reshape(-1, 7)
windows_corrected = correct_bad_windows(windows_bad, walls_bw)
windows1[win_bad_ids] = windows_corrected
if DEBUG and False:
print('out')
show_all([windows1, walls])
return windows1
def preprocess_walls(wall_bboxes):
'''
The framework to generate wall ground truth from SUNCG
1) Make y-dim as thickness, x_size > y_size, yaw in (-pi/2, pi/2]
2) If a final wall is originally splitted as pieces in SUNCG, merge them as one
3) If a wall in SUNCG actually contains several finally walls, crop it
4) Clean repeated walls
'''
show_pro = False
if show_pro:
print('original')
show_walls_offsetz(wall_bboxes)
#Bbox3D.draw_bboxes_mesh(wall_bboxes, 'Z', False)
#Bbox3D.draw_bboxes(wall_bboxes, 'Z', False)
if wall_bboxes.shape[0] == 0:
return wall_bboxes
wall_bboxes = Bbox3D.define_walls_direction(wall_bboxes,
'Z',
yx_zb=False,
check_thickness=True)
wall_bboxes = merge_pieces_of_same_walls_alongY(wall_bboxes)
if show_pro:
print('merge_pieces_of_same_walls_alongY')
show_walls_offsetz(wall_bboxes)
wall_bboxes = merge_pieces_of_same_walls_alongX(wall_bboxes)
if show_pro:
print('merge_pieces_of_same_walls_alongX')
show_walls_offsetz(wall_bboxes)
wall_bboxes = crop_walls(wall_bboxes)
if show_pro:
print('crop_walls')
show_walls_offsetz(wall_bboxes)
wall_bboxes = merge_pieces_of_same_walls_alongY(wall_bboxes)
if show_pro:
print(
'merge_pieces_of_same_walls_alongY again after crop_walls to solve some special case: Originally, a wall is broken by no intersection like 0058113bdc8bee5f387bb5ad316d7b28'
)
show_walls_offsetz(wall_bboxes)
wall_bboxes = find_close_walls(wall_bboxes)
if show_pro:
print('clean_close_walls')
show_walls_offsetz(wall_bboxes)
#intersections = Bbox3D.all_intersections_by_cenline(wall_bboxes, not_on_corners=True, show_res=True)
#mask =( wall_bboxes[:,0] < 45) * (wall_bboxes[:,0] > 43)
#wall_bboxes_ = wall_bboxes[mask]
if DEBUG and 0:
show_walls_offsetz(wall_bboxes)
return wall_bboxes