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gen3d.py
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gen3d.py
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import glob
import cv2
import os, re
import trimesh
import random
import numpy as np
import pandas as pd
import geopandas as gpd
from tqdm import tqdm
from shapely import line_merge
from scipy.spatial import Delaunay
from shapely.affinity import rotate, scale, translate
from cldm.model import create_model, load_state_dict
from cldm.ddim_hacked import DDIMSampler
from utils.tools import *
from bg_extract.bg_extract import mm_road, mm_vegetation
from bg_extract.road_centerline.road_tiff_polygonize import road_line_ext
from pleatau_inference import inference, OBJ_output, bldg_lod1_gen_realCity, bldg_citygml_realCity, save_citygml, inference
from geojson_reader import read_geojson_and_rasterize
import argparse
import pyproj
from osgeo import gdal, osr
cfg_file = './models/cldm_v21.yaml'
ckpt_files = ['./lightning_logs/plateau_dataEnhancement_type1/checkpoints/epoch=134-step=20999.ckpt',
'./lightning_logs/plateau_dataEnhancement_type2/checkpoints/epoch=36-step=28999.ckpt',
'./lightning_logs/plateau_dataEnhancement_type3/checkpoints/epoch=17-step=25999.ckpt',
'./lightning_logs/plateau_dataEnhancement_NType5/checkpoints/epoch=95-step=18999.ckpt',
'./lightning_logs/plateau_dataEnhancement_NType6/checkpoints/epoch=13-step=13999.ckpt']
class genRelief:
def __init__(self,
relief_src_root='./data_src/src_2d/dem/crop_resize',
height_limit=5.,
relief_lod=1,
**kwargs):
self.relief_src_root = relief_src_root
self.height_limit = height_limit
self.relief_lod = relief_lod
self.relief_src_path = glob.glob(os.path.join(self.relief_src_root, '*.jpg'))
self.dem_model = None
self.dem_geotrans = None
self.points_relief = None
self.mesh_relief = []
def gen_mesh_relief_lod1(self, x_min, y_min, width=200., height=200.):
l_path = len(self.relief_src_path)
rand_idx = random.randint(0, l_path - 1)
rand_dem_path = self.relief_src_path[rand_idx]
img = cv2.imread(rand_dem_path, 0)
h_img, w_img = img.shape
x, y = np.meshgrid(np.arange(w_img), np.arange(h_img))
coordinates = np.stack((x_min + x * width / (w_img - 1), y_min + y * height / (h_img - 1)), axis=-1)
points = np.concatenate([coordinates, img[..., None] / 255. * self.height_limit], axis=2)
points_reshape = np.reshape(points, (-1, 3))
points_2d = points_reshape[:, :2]
tri = Delaunay(points_2d)
faces = tri.simplices
self.mesh_relief = trimesh.Trimesh(vertices=points_reshape, faces=faces)
self.points_relief = points
return self.mesh_relief
def gen_realCity_relief_lod1(self, img_path, dem_path='./data_src/kashiwa_dem_float.tiff', img_epsg_crs='EPSG:30169'):
bg_img_data = gdal.Open(img_path)
cols = bg_img_data.RasterXSize
rows = bg_img_data.RasterYSize
im_Geotrans = (bg_img_data.GetGeoTransform())
# print(im_Geotrans)
srs_epsg = img_epsg_crs
source_crs = pyproj.CRS(srs_epsg)
target_crs = pyproj.CRS('EPSG:6668')
crs_transformer = pyproj.Transformer.from_crs(source_crs, target_crs)
crs_back_transformer = pyproj.Transformer.from_crs(target_crs, source_crs)
lower_corner = crs_transformer.transform(im_Geotrans[3], im_Geotrans[0])
higher_corner = crs_transformer.transform(im_Geotrans[3] + rows * im_Geotrans[5], im_Geotrans[0] + cols * im_Geotrans[1])
dem_data = gdal.Open(dem_path)
dem_Geotrans = (dem_data.GetGeoTransform())
lower_corner_index = [int((lower_corner[1] - dem_Geotrans[0]) / dem_Geotrans[1]), int((lower_corner[0] - dem_Geotrans[3]) / dem_Geotrans[5])]
higher_corner_index = [int((higher_corner[1] - dem_Geotrans[0]) / dem_Geotrans[1]), int((higher_corner[0] - dem_Geotrans[3]) / dem_Geotrans[5])]
if not 0 <= lower_corner_index[0] < dem_data.RasterXSize and 0 <= lower_corner_index[1] < dem_data.RasterYSize and 0 <= higher_corner_index[0] < dem_data.RasterXSize and 0 <= higher_corner_index[1] < dem_data.RasterYSize:
raise Exception('Not implemented area included. Abort. ')
print(lower_corner_index, higher_corner_index)
dem_shape = [higher_corner_index[i] - lower_corner_index[i] for i in range(2)] # cols, rows
dem_array = dem_data.ReadAsArray(lower_corner_index[0], lower_corner_index[1], dem_shape[0], dem_shape[1])
self.dem_model = dem_data.ReadAsArray(0, 0, dem_data.RasterXSize, dem_data.RasterYSize)
self.dem_geotrans = dem_Geotrans
dem_origin = [dem_Geotrans[0] + lower_corner_index[0] * dem_Geotrans[1], dem_Geotrans[3] + lower_corner_index[1] * dem_Geotrans[5]]
dem_points = []
for row in range(dem_shape[1]):
for col in range(dem_shape[0]):
y, x = crs_back_transformer.transform(dem_origin[1] + (row + 0.5) * dem_Geotrans[5], dem_origin[0] + (col + 0.5) * dem_Geotrans[1])
# x = dem_origin[0] + (col + 0.5) * dem_Geotrans[1]
# y = dem_origin[1] + (row + 0.5) * dem_Geotrans[5]
elevation = dem_array[row, col]
dem_points.append((x, y, elevation))
dem_points_array = np.array(dem_points)
delaunay_points_array = dem_points_array[:, :2]
delaunay_tri = Delaunay(delaunay_points_array)
dem_faces = delaunay_tri.simplices
self.mesh_relief = trimesh.Trimesh(vertices=dem_points_array, faces=dem_faces)
self.points_relief = dem_points_array
return self.mesh_relief
# cropped_dem = 'dem_test.tiff'
# driver = gdal.GetDriverByName("GTiff")
# cropped_dem_dataset = driver.Create(cropped_dem, dem_shape[0], dem_shape[1], 1, gdal.GDT_Byte)
# srs = osr.SpatialReference()
# srs.ImportFromEPSG(6668)
# cropped_dem_dataset.SetGeoTransform((dem_Geotrans[0] + lower_corner_index[0] * dem_Geotrans[1], dem_Geotrans[1], 0, dem_Geotrans[3] + lower_corner_index[1] * dem_Geotrans[5], 0, dem_Geotrans[5]))
# cropped_dem_dataset.GetRasterBand(1).WriteArray(dem_array, 0, 0)
# cropped_dem_dataset.SetProjection(srs.ExportToWkt())
# print(cols, rows, srs_epsg, im_Geotrans)
# print(lower_corner, higher_corner)
def run(self, img_path, relief_lod=1, save_gml=True, gml_root='', dem_path='./data_src/kashiwa_dem_float.tiff', img_epsg_crs='EPSG:30169'):
if relief_lod == 1:
self.gen_realCity_relief_lod1(img_path=img_path)
else:
raise Exception('Only LOD 1 relief implemented. ')
if save_gml:
relief_gml = self.create_citygml_relief([self.mesh_relief], relief_lod=1,
srs_name="http://www.opengis.net/def/crs/EPSG/0/30169",
srsDimension="3")
save_citygml(relief_gml, os.path.join(gml_root, 'relief.gml'))
return [self.mesh_relief]
def create_citygml_relief(self, relief, relief_lod=1, srs_name="http://www.opengis.net/def/crs/EPSG/0/30169",
srsDimension="3"):
nsmap = {
'core': "http://www.opengis.net/citygml/2.0",
'dem': "http://www.opengis.net/citygml/relief/2.0",
'gml': "http://www.opengis.net/gml"
}
cityModel = etree.Element("{http://www.opengis.net/citygml/2.0}CityModel", nsmap=nsmap)
for relief_data in relief:
vertices, faces = relief_data.vertices, relief_data.faces
x_max, y_max, z_max = np.max(vertices, axis=0)
x_min, y_min, z_min = np.min(vertices, axis=0)
boundedBy = etree.SubElement(cityModel, "{http://www.opengis.net/gml}boundedBy")
Envelope = etree.SubElement(boundedBy, "{http://www.opengis.net/gml}Envelope", srsName=srs_name,
srsDimension=srsDimension)
lowerCorner = etree.SubElement(Envelope, "{http://www.opengis.net/gml}lowerCorner")
upperCorner = etree.SubElement(Envelope, "{http://www.opengis.net/gml}upperCorner")
lowerCorner.text = '{} {} {}'.format(x_min, y_min, z_min)
upperCorner.text = '{} {} {}'.format(x_max, y_max, z_max)
relief_member = etree.SubElement(cityModel, "{http://www.opengis.net/citygml/2.0}cityObjectMember")
reliefFeature = etree.SubElement(relief_member, "{http://www.opengis.net/citygml/relief/2.0}ReliefFeature")
lod1_1 = etree.SubElement(reliefFeature, "{http://www.opengis.net/citygml/relief/2.0}lod")
lod1_1.text = str(relief_lod)
reliefComponent = etree.SubElement(reliefFeature,
"{http://www.opengis.net/citygml/relief/2.0}reliefComponent")
TINRelief = etree.SubElement(reliefComponent, "{http://www.opengis.net/citygml/relief/2.0}TINRelief")
lod1_2 = etree.SubElement(TINRelief, "{http://www.opengis.net/citygml/relief/2.0}lod")
lod1_2.text = str(relief_lod)
tin = etree.SubElement(TINRelief, "{http://www.opengis.net/citygml/relief/2.0}tin")
triangulatedSurface = etree.SubElement(tin, "{http://www.opengis.net/gml}TriangulatedSurface",
srsName=srs_name,
srsDimension=srsDimension)
trianglePatches = etree.SubElement(triangulatedSurface, "{http://www.opengis.net/gml}trianglePatches")
for face in faces:
polygon = etree.SubElement(trianglePatches, "{http://www.opengis.net/gml}Triangle")
exterior = etree.SubElement(polygon, "{http://www.opengis.net/gml}exterior")
linearRing = etree.SubElement(exterior, "{http://www.opengis.net/gml}LinearRing")
posList = etree.SubElement(linearRing, "{http://www.opengis.net/gml}posList")
coords = ' '.join(
['{} {} {}'.format(vertices[idx][0], vertices[idx][1], vertices[idx][2]) for idx in face])
coords += ' {} {} {}'.format(vertices[face[0]][0], vertices[face[0]][1], vertices[face[0]][2])
posList.text = coords
return cityModel
def gen_relief_run(self, x_min, y_min, width=200., height=200., relief_lod=1, save_gml=True, gml_root=''):
if relief_lod == 1:
self.gen_mesh_relief_lod1(x_min, y_min, width, height)
if save_gml and relief_lod:
relief_gml = self.create_citygml_relief([self.mesh_relief], relief_lod=1,
srs_name="http://www.opengis.net/def/crs/EPSG/0/30169",
srsDimension="3")
save_citygml(relief_gml, os.path.join(gml_root, 'relief.gml'))
return self.mesh_relief
class genRoad:
def __init__(self,
img_path,
width=2.,
width_sub=0.1,
light_ratio=10.,
# tele_ratio=1.,
**kwargs):
self.img_path = img_path
# self.img_resolution = img_resolution
self.width = width
self.width_sub = width_sub
self.light_ratio = light_ratio
# self.tele_ratio = tele_ratio
self.road_limit = None
def crop_road_lineStr(self):
im_proj, im_Geotrans, im_data = read_tif(self.img_path)
img_shape = im_data.shape
if min(img_shape) == img_shape[2]:
height, width, channel = im_data.shape
im_data = im_data[:, :, :3]
else:
channel, height, width = im_data.shape
im_data = np.transpose(im_data[:3, :, :], (1, 2, 0))
x_min, y_min, resolusion_x, resolusion_y = im_Geotrans[0], im_Geotrans[3], im_Geotrans[1], im_Geotrans[5]
road_masks = mm_road(im_data,'bg_extract/ckpt/mm_road/road.pth')
road_link = road_line_ext(road_masks, [resolusion_x,resolusion_y], x_min, y_min)
road_link = [line_merge(xx) for xx in road_link]
road_link_simp = []
for road_link_ in road_link:
road_link_simp += [xx.simplify(0.5) for xx in road_link_.geoms] \
if isinstance(road_link_, MultiLineString) else [road_link_.simplify(0.5)]
self.roi_road = gpd.array.GeometryArray(np.array(road_link))
return self.roi_road
def gen_mesh_road(self, shp, buffer, add_relief=True, gen_relief=None, srs_epsg='EPSG:30169'):
self.mesh_road = []
self.buffered_line = shp.buffer(buffer)
self.road_limit = self.buffered_line
for poly_road in self.buffered_line:
if isinstance(poly_road, Polygon):
tmp_mesh = polygon_to_mesh(poly_road, gen_relief=gen_relief)
self.mesh_road.append(tmp_mesh)
elif isinstance(poly_road, MultiPolygon):
for poly_road_tmp in poly_road.geoms:
tmp_mesh = polygon_to_mesh(poly_road_tmp, gen_relief=gen_relief)
self.mesh_road.append(tmp_mesh)
def gen_mesh_road_sub(self, shp, width, width_sub, add_relief=True, gen_relief=None, srs_epsg='EPSG:30169'):
left_sub, right_sub = [], []
for tmp_road in shp:
if isinstance(tmp_road, LineString):
left_sub.append(
tmp_road.parallel_offset(width * (1 + width_sub + 0.5), 'left').buffer(width * width_sub))
right_sub.append(
tmp_road.parallel_offset(width * (1 + width_sub + 0.5), 'right').buffer(width * width_sub))
elif isinstance(tmp_road, MultiLineString):
for tmp_road_ in tmp_road.geoms:
left_sub.append(
tmp_road_.parallel_offset(width * (1 + width_sub + 0.5), 'left').buffer(width * width_sub))
right_sub.append(
tmp_road_.parallel_offset(width * (1 + width_sub + 0.5), 'right').buffer(
width * width_sub))
self.road_limit = shp.buffer(width * (1 + width_sub * 2. + 0.5))
for poly_road in left_sub:
if isinstance(poly_road, Polygon):
tmp_mesh = polygon_to_mesh(poly_road, gen_relief=gen_relief)
self.mesh_road.append(tmp_mesh)
elif isinstance(poly_road, MultiPolygon):
for poly_road_tmp in poly_road.geoms:
tmp_mesh = polygon_to_mesh(poly_road_tmp, gen_relief=gen_relief)
self.mesh_road.append(tmp_mesh)
for poly_road in right_sub:
if isinstance(poly_road, Polygon):
tmp_mesh = polygon_to_mesh(poly_road, gen_relief=gen_relief)
self.mesh_road.append(tmp_mesh)
elif isinstance(poly_road, MultiPolygon):
for poly_road_tmp in poly_road.geoms:
tmp_mesh = polygon_to_mesh(poly_road_tmp, gen_relief=gen_relief)
self.mesh_road.append(tmp_mesh)
def generate_poles_along_line(self, line, interval):
length = line.length
return [line.interpolate(distance) for distance in range(0, int(length), interval)]
def gen_device_lod1(self, shp, add_relief=True, gen_relief=None, srs_epsg='EPSG:30169'):
self.mesh_device = []
left_sub = []
for tmp_road in shp:
if isinstance(tmp_road, LineString):
left_sub.append(
tmp_road.parallel_offset(self.width * (1 + self.width_sub * 2 + 0.5), 'left'))
elif isinstance(tmp_road, MultiLineString):
for tmp_road_ in tmp_road.geoms:
left_sub.append(
tmp_road_.parallel_offset(self.width * (1 + self.width_sub * 2 + 0.5), 'left'))
self.road_limit = shp.buffer(self.width * (1 + self.width_sub * 2. + 0.5))
tele_pole_point = []
for tmp_road in left_sub:
tele_pole_point += self.generate_poles_along_line(tmp_road, 20)
source_crs = pyproj.CRS(srs_epsg)
target_crs = pyproj.CRS('EPSG:6668')
crs_transformer = pyproj.Transformer.from_crs(source_crs, target_crs)
for x in range(len(tele_pole_point)):
half_side = 0.1
tele_pole_point_xy = [tele_pole_point[x].x, tele_pole_point[x].y]
tele_pole_square_coords = [
(tele_pole_point_xy[0] - half_side, tele_pole_point_xy[1] - half_side),
(tele_pole_point_xy[0] - half_side, tele_pole_point_xy[1] + half_side),
(tele_pole_point_xy[0] + half_side, tele_pole_point_xy[1] + half_side),
(tele_pole_point_xy[0] + half_side, tele_pole_point_xy[1] - half_side)
]
tele_pole_square = Polygon(tele_pole_square_coords)
vertices, faces = polygon_to_mesh_3D(tele_pole_square)
tmp_mesh = trimesh.Trimesh(vertices=vertices, faces=faces)
if add_relief:
device_centroid_xy = np.mean(np.array(vertices)[:, :2], axis=0)
lat, lon = crs_transformer.transform(device_centroid_xy[1], device_centroid_xy[0])
index = [int((lat - gen_relief.dem_geotrans[3]) / gen_relief.dem_geotrans[5]), int((lon - gen_relief.dem_geotrans[0]) / gen_relief.dem_geotrans[1])]
relief_z = gen_relief.dem_model[index[0], index[1]]
# print(device_centroid_xy, relief_z, lat, lon, index)
if not tele_pole_point[x].within(self.road_limit).any():
self.mesh_device.append(tmp_mesh.apply_translation([0, 0, relief_z]))
def gen_device_lod2(self, shp, pole_ratio=10, add_relief=True, gen_relief=None, srs_epsg='EPSG:30169'):
self.mesh_device = []
self.light_ratio = 1. / pole_ratio
tele_pole_mesh = trimesh.load(os.path.join('./data_src/src_3d/lod3frn/electric_pole',
'obj_52385618_frn_6697_op_frn_0ece98a1-6070-4315-88d4-3d4546168814__493155_25.obj'))
tele_pole_mesh = tele_pole_mesh.dump(concatenate=True) if isinstance(tele_pole_mesh,
trimesh.Scene) else tele_pole_mesh
tele_pole_mesh_xy = tele_pole_mesh.centroid[:2]
tele_pole_mesh_zmin = np.min(tele_pole_mesh.vertices[:, 2])
tele_pole_mesh_h = np.max(tele_pole_mesh.vertices[:, 2]) - tele_pole_mesh_zmin
traf_light_mesh = trimesh.load(os.path.join('./data_src/src_3d/lod3frn/traffic_light',
'obj_52385618_frn_6697_op_frn_25870971-faa3-4677-b281-f192176cfbea__711063_25.obj'))
traf_light_mesh = traf_light_mesh.dump(concatenate=True) if isinstance(traf_light_mesh,
trimesh.Scene) else traf_light_mesh
traf_light_mesh_xy = traf_light_mesh.centroid[:2]
traf_light_mesh_zmin = np.min(traf_light_mesh.vertices[:, 2])
left_sub = []
for tmp_road in shp:
if isinstance(tmp_road, LineString):
left_sub.append(
tmp_road.parallel_offset(self.width * (1 + self.width_sub * 2 + 0.5), 'left'))
elif isinstance(tmp_road, MultiLineString):
for tmp_road_ in tmp_road.geoms:
left_sub.append(
tmp_road_.parallel_offset(self.width * (1 + self.width_sub * 2 + 0.5), 'left'))
self.road_limit = shp.buffer(self.width * (1 + self.width_sub * 2. + 0.5))
tele_pole_point = []
for tmp_road in left_sub:
tele_pole_point += self.generate_poles_along_line(tmp_road, 20)
source_crs = pyproj.CRS(srs_epsg)
target_crs = pyproj.CRS('EPSG:6668')
crs_transformer = pyproj.Transformer.from_crs(source_crs, target_crs)
res_tele_pole = []
for x in range(len(tele_pole_point)):
tmp_tele_pole_mesh = tele_pole_mesh.copy()
tele_pole_point_xy = [tele_pole_point[x].x, tele_pole_point[x].y]
if add_relief:
lat, lon = crs_transformer.transform(tele_pole_point_xy[1], tele_pole_point_xy[0])
index = [int((lat - gen_relief.dem_geotrans[3]) / gen_relief.dem_geotrans[5]), int((lon - gen_relief.dem_geotrans[0]) / gen_relief.dem_geotrans[1])]
relief_z = gen_relief.dem_model[index[0], index[1]]
# print(tele_pole_point_xy, lat, lon, index, relief_z, tele_pole_mesh_zmin)
# tele_pole_mesh_zmin -= relief_z
trans_tele_mesh = [tele_pole_point_xy[0] - tele_pole_mesh_xy[0],
tele_pole_point_xy[1] - tele_pole_mesh_xy[1],
relief_z - tele_pole_mesh_zmin]
if not tele_pole_point[x].within(self.road_limit).any():
res_tele_pole.append(tmp_tele_pole_mesh.apply_translation(trans_tele_mesh))
res_traf_light = []
for x in random.sample(list(range(len(res_tele_pole))),
int(len(res_tele_pole) * self.light_ratio)):
tmp_traf_light_mesh = traf_light_mesh.copy()
tele_pole_point_xy = res_tele_pole[x].centroid[:2]
if add_relief:
lat, lon = crs_transformer.transform(tele_pole_point_xy[1], tele_pole_point_xy[0])
index = [int((lat - gen_relief.dem_geotrans[3]) / gen_relief.dem_geotrans[5]), int((lon - gen_relief.dem_geotrans[0]) / gen_relief.dem_geotrans[1])]
relief_z = gen_relief.dem_model[index[0], index[1]]
# print(tele_pole_point_xy, lat, lon, index, relief_z, traf_light_mesh_zmin)
# tele_pole_mesh_zmin -= relief_z
trans_traf_mesh = [tele_pole_point_xy[0] - traf_light_mesh_xy[0],
tele_pole_point_xy[1] - traf_light_mesh_xy[1],
relief_z - traf_light_mesh_zmin]
res_traf_light.append(tmp_traf_light_mesh.apply_translation(trans_traf_mesh))
self.mesh_device += res_tele_pole + res_traf_light
def create_citygml_road(self, roads, srs_name="http://www.opengis.net/def/crs/EPSG/0/30169",
srsDimension="3"):
nsmap = {
'core': "http://www.opengis.net/citygml/2.0",
'tran': "http://www.opengis.net/citygml/transportation/2.0",
'gml': "http://www.opengis.net/gml"
}
cityModel = etree.Element("{http://www.opengis.net/citygml/2.0}CityModel", nsmap=nsmap)
total_vertices = []
for road in roads:
total_vertices.append(road.vertices)
total_vertices = np.vstack(total_vertices)
x_max, y_max, z_max = np.max(total_vertices, axis=0)
x_min, y_min, z_min = np.min(total_vertices, axis=0)
boundedBy = etree.SubElement(cityModel, "{http://www.opengis.net/gml}boundedBy")
Envelope = etree.SubElement(boundedBy, "{http://www.opengis.net/gml}Envelope", srsName=srs_name,
srsDimension=srsDimension)
lowerCorner = etree.SubElement(Envelope, "{http://www.opengis.net/gml}lowerCorner")
upperCorner = etree.SubElement(Envelope, "{http://www.opengis.net/gml}upperCorner")
lowerCorner.text = '{} {} {}'.format(x_min, y_min, z_min)
upperCorner.text = '{} {} {}'.format(x_max, y_max, z_max)
for road_data in roads:
vertices, faces = road_data.vertices, road_data.faces
traffic_member = etree.SubElement(cityModel, "{http://www.opengis.net/citygml/2.0}cityObjectMember")
transportation = etree.SubElement(traffic_member,
"{http://www.opengis.net/citygml/transportation/2.0}Road")
lod1MultiSurface = etree.SubElement(transportation,
"{http://www.opengis.net/citygml/transportation/2.0}lod2MultiSurface")
multiSurface = etree.SubElement(lod1MultiSurface, "{http://www.opengis.net/gml}MultiSurface")
for face in faces:
surfaceMember = etree.SubElement(multiSurface, "{http://www.opengis.net/gml}surfaceMember")
polygon = etree.SubElement(surfaceMember, "{http://www.opengis.net/gml}Polygon")
exterior = etree.SubElement(polygon, "{http://www.opengis.net/gml}exterior")
linearRing = etree.SubElement(exterior, "{http://www.opengis.net/gml}LinearRing")
posList = etree.SubElement(linearRing, "{http://www.opengis.net/gml}posList")
coords = ' '.join(
['{} {} {}'.format(vertices[idx][0], vertices[idx][1], vertices[idx][2]) for idx in face])
coords += ' {} {} {}'.format(vertices[face[0]][0], vertices[face[0]][1], vertices[face[0]][2])
posList.text = coords
return cityModel
def create_citygml_cityfurniture(self, devices, srs_name="http://www.opengis.net/def/crs/EPSG/0/30169",
srsDimension="3"):
nsmap = {
'core': "http://www.opengis.net/citygml/2.0",
'frn': "http://www.opengis.net/citygml/cityfurniture/2.0",
'gml': "http://www.opengis.net/gml"
}
cityModel = etree.Element("{http://www.opengis.net/citygml/2.0}CityModel", nsmap=nsmap)
total_vertices = []
for device in devices:
total_vertices.append(device.vertices)
total_vertices = np.vstack(total_vertices)
x_max, y_max, z_max = np.max(total_vertices, axis=0)
x_min, y_min, z_min = np.min(total_vertices, axis=0)
boundedBy = etree.SubElement(cityModel, "{http://www.opengis.net/gml}boundedBy")
Envelope = etree.SubElement(boundedBy, "{http://www.opengis.net/gml}Envelope", srsName=srs_name,
srsDimension=srsDimension)
lowerCorner = etree.SubElement(Envelope, "{http://www.opengis.net/gml}lowerCorner")
upperCorner = etree.SubElement(Envelope, "{http://www.opengis.net/gml}upperCorner")
lowerCorner.text = '{} {} {}'.format(x_min, y_min, z_min)
upperCorner.text = '{} {} {}'.format(x_max, y_max, z_max)
for devices_data in devices:
vertices, faces = devices_data.vertices, devices_data.faces
furniture_member = etree.SubElement(cityModel, "{http://www.opengis.net/citygml/2.0}cityObjectMember")
cityFurniture = etree.SubElement(furniture_member,
"{http://www.opengis.net/citygml/cityfurniture/2.0}CityFurniture")
lod1Geometry = etree.SubElement(cityFurniture,
"{http://www.opengis.net/citygml/cityfurniture/2.0}lod1Geometry")
multiSurface = etree.SubElement(lod1Geometry, "{http://www.opengis.net/gml}MultiSurface")
for face in faces:
surfaceMember = etree.SubElement(multiSurface, "{http://www.opengis.net/gml}surfaceMember")
polygon = etree.SubElement(surfaceMember, "{http://www.opengis.net/gml}Polygon")
exterior = etree.SubElement(polygon, "{http://www.opengis.net/gml}exterior")
linearRing = etree.SubElement(exterior, "{http://www.opengis.net/gml}LinearRing")
posList = etree.SubElement(linearRing, "{http://www.opengis.net/gml}posList")
coords = ' '.join(
['{} {} {}'.format(vertices[idx][0], vertices[idx][1], vertices[idx][2]) for idx in face])
coords += ' {} {} {}'.format(vertices[face[0]][0], vertices[face[0]][1], vertices[face[0]][2])
posList.text = coords
return cityModel
def add_relief(self, points_relief):
z_points_interpolate = relief_interpolate(self.mesh_road, points_relief)
if (z_points_interpolate is None):
return
for i, tmp_mesh in enumerate(self.mesh_road):
tmp_vertices = tmp_mesh.vertices
tmp_vertices[:, 2] += z_points_interpolate[i] + 0.01
tmp_mesh.vertices = tmp_vertices
def gen_road_run(self, road_lod=1, device_lod=1, save_gml=True, gml_root='', road_width_range=[1, 10], road_sub=0.1, add_relief=True, gen_relief=None, srs_epsg='EPSG:30169'):
self.width = random.randint(road_width_range[0], road_width_range[1])
self.width_sub = road_sub
if road_lod >= 1:
self.gen_mesh_road(self.roi_road, self.width, add_relief=add_relief, gen_relief=gen_relief, srs_epsg=srs_epsg)
if road_lod == 2:
self.gen_mesh_road_sub(self.roi_road, self.width, self.width_sub, add_relief=add_relief, gen_relief=gen_relief, srs_epsg=srs_epsg)
if device_lod == 1:
self.gen_device_lod1(self.roi_road, add_relief=add_relief, gen_relief=gen_relief, srs_epsg=srs_epsg)
elif device_lod == 2:
self.gen_device_lod2(self.roi_road, add_relief=add_relief, gen_relief=gen_relief, srs_epsg=srs_epsg)
feat_color_road = (255, 253, 230, 255)
feat_color_device = (240, 128, 128, 255)
self.mesh_road = obj_color(self.mesh_road,feat_color_road)
self.mesh_device = obj_color(self.mesh_device,feat_color_device)
self.mesh_road += self.mesh_device
# self.add_relief(points_relief)
road_ori = self.mesh_road.copy()
if save_gml:
road_gml = self.create_citygml_road(road_ori)
save_citygml(road_gml, os.path.join(gml_root, 'road.gml'))
device_gml = self.create_citygml_cityfurniture(self.mesh_device)
save_citygml(device_gml, os.path.join(gml_root, 'device.gml'))
return self.mesh_road
class genBuilding:
def __init__(self,
bldg_footprint_path,
bdg_src_path='',
bdg_obj_label_path='./data_src/src_3d/merged_filter1.csv',
bdg_obj_root='./data_src/src_3d/obj/',
probabilities=[1., 0., 0., 0., 0., 0.],
low_storey=2,
high_storey=35,
mesh_scale=2.,
random_seed=1024,
**kwargs):
# self.bdg_src_path = bdg_src_path
# self.bdg_src = gpd.read_file(self.bdg_src_path).geometry
# flattened_geometries = [geom for sublist in self.bdg_src.apply(flatten_multipolygons) for geom in sublist]
# self.bdg_src=gpd.array.GeometryArray(np.array(flattened_geometries))
self.probabilities = probabilities
self.mesh_scale = mesh_scale
self.random_seed = random_seed
self.obj_mes = pd.read_csv(bdg_obj_label_path)
self.obj_type = self.obj_mes['type'].values
self.obj_type = self.type_map_bdg(self.obj_type)
self.obj_root = bdg_obj_root
self.low_storey = low_storey
self.high_storey = high_storey
self.polygons, self.names, self.origin_coords, self.pixel_sizes, self.footprint_images = read_geojson_and_rasterize(bldg_footprint_path)
# def crop_blg_poly(self, x_min, y_min, width=200., height=200.):
# self.roi_rect = box(x_min, y_min, x_min + width, y_min + height)
# self.roi_building = self.bdg_src[self.bdg_src.within(self.roi_rect)]
# return self.roi_building
def run(self, gen_relief=None, add_relief=True, colored=True, srs_epsg='EPSG:30169', lod_building=1, gml_root='', obj_root_path='', save_gml=True, crs='30169', vertex_num=0):
acc_vertices, acc_faces = [], []
background_vertices_num = vertex_num
with open(os.path.join(obj_root_path, f'test_lod{lod_building}.obj'), 'a') as obj_file:
obj_file.write('\n')
if colored:
obj_file.write('usemtl BuildingMaterial\n')
with open(os.path.join(obj_root_path, f'material.mtl'), 'a') as mtl_file:
mtl_file.write('\n\nnewmtl BuildingMaterial\n')
mtl_file.write('Kd 0.615686 0.764706 0.901961\n')
# mtl_file.write('newmtl BackgroundMaterial\n')
# mtl_file.write('Kd 1.0 1.0 1.0\n')
source_crs = pyproj.CRS(srs_epsg)
target_crs = pyproj.CRS('EPSG:6668')
crs_transformer = pyproj.Transformer.from_crs(source_crs, target_crs)
if lod_building == 1:
for idx, polygon in enumerate(self.polygons):
img_Geotrans = np.array(
[self.origin_coords[idx][0], self.pixel_sizes[idx][0], 0, self.origin_coords[idx][1], 0, self.pixel_sizes[idx][1]],
dtype=np.float32)
vertices, faces = bldg_lod1_gen_realCity(polygon[0], self.low_storey, self.high_storey, vertex_num)
if add_relief:
bldg_array = np.array(vertices)
# bldg_zmin = np.min(bldg_array[:, 2])
bldg_centroid = np.mean(bldg_array, axis=0)
lat, lon = crs_transformer.transform(bldg_centroid[1], bldg_centroid[0])
index = [int((lat - gen_relief.dem_geotrans[3]) / gen_relief.dem_geotrans[5]), int((lon - gen_relief.dem_geotrans[0]) / gen_relief.dem_geotrans[1])]
relief_z = gen_relief.dem_model[index[0], index[1]]
vertices = [[v[0], v[1], v[2] + relief_z] for v in vertices]
OBJ_output(os.path.join(obj_root_path, 'test_lod1.obj'), vertices, faces, vertex_num)
vertex_num = vertex_num + len(vertices)
acc_vertices.append(vertices)
acc_faces.append(faces)
elif lod_building == 2:
model = create_model(cfg_file).cpu()
index_list = [i for i in range(len(self.footprint_images))]
random.shuffle(index_list)
bldg_ratio = self.probabilities
if not sum(bldg_ratio) == 1:
print('Warning: Not full probabilities. Converting the remaining to Lod1-flat...')
elif sum(bldg_ratio) > 1:
raise Exception('Probabilities overflowed. Set the values with whose sum under 1. ')
bldg_ratio_pt = []
for i in range(1, len(bldg_ratio) + 1):
bldg_ratio_pt.append(int(sum(bldg_ratio[:i]) * len(index_list)))
ckpt_idx = 0
ddim_sampler = ""
for i, idx in enumerate(index_list):
if not i or i in bldg_ratio_pt:
model.load_state_dict(
load_state_dict(ckpt_files[ckpt_idx],
location='cuda'))
model = model.cuda()
ddim_sampler = DDIMSampler(model)
ckpt_idx += 1
if ckpt_idx >= 5:
ckpt_idx = -1
if ckpt_idx == -1:
vertices, faces = bldg_lod1_gen_realCity(self.polygons[idx][0], 1, 50, vertex_num)
else:
img_Geotrans = np.array(
[self.origin_coords[idx][0], self.pixel_sizes[idx][0], 0, self.origin_coords[idx][1], 0, self.pixel_sizes[idx][1]],
dtype=np.float32)
vertices, faces = inference(model, ddim_sampler, self.footprint_images[idx], img_Geotrans, self.polygons[idx][0],
vertex_num, low_storey=self.low_storey, high_storey=self.high_storey, scale=self.mesh_scale, seed=self.random_seed)
if add_relief:
bldg_array = np.array(vertices)
# bldg_zmin = np.min(bldg_array[:, 2])
bldg_centroid = np.mean(bldg_array, axis=0)
lat, lon = crs_transformer.transform(bldg_centroid[1], bldg_centroid[0])
index = [int((lat - gen_relief.dem_geotrans[3]) / gen_relief.dem_geotrans[5]), int((lon - gen_relief.dem_geotrans[0]) / gen_relief.dem_geotrans[1])]
relief_z = gen_relief.dem_model[index[0], index[1]]
vertices = [[v[0], v[1], v[2] + relief_z] for v in vertices]
OBJ_output(os.path.join(obj_root_path, 'test_lod2.obj'), vertices, faces, vertex_num, bldg_lod=2)
acc_vertices.append(vertices)
acc_faces.append([[coord + vertex_num for coord in face] for face in faces])
vertex_num = vertex_num + len(vertices)
else:
raise Exception('Only LOD 1 and 2 have been implemented for building. ')
if save_gml is True:
save_citygml(bldg_citygml_realCity(acc_vertices, acc_faces, lod=lod_building, vertex_num=background_vertices_num, srs_name="http://www.opengis.net/def/crs/EPSG/0/" + crs), os.path.join(gml_root, 'building.gml'))
def type_map_bdg(self, data):
data[(data == 5) | (data == 6) | (data == 7) | (data == 9) | (data == 12) | (data == 13)] = 5
data[(data == 8) | (data == 11)] = 6
data[(data == 10)] = 7
return data
def get_ab(self, polygon):
rect = polygon.envelope
rect = list(rect.exterior.coords)
edge_lengths = [Point(rect[i]).distance(Point(rect[i - 1])) for i in range(1, len(rect))]
return [max(edge_lengths), min(edge_lengths)]
def get_reshape_scale(self, polygon1, polygon2):
poly1_max, poly1_min = self.get_ab(polygon1)
poly2_max, poly2_min = self.get_ab(polygon2)
return min(poly1_max / poly2_max, poly1_min / poly2_min)
def get_polygon(self, data):
mesh_point = data.vertices
min_z = np.min(mesh_point[:, 2])
plane_origin = [0, 0, min_z + 1]
plane_normal = [0, 0, 1]
slice3d = data.section(plane_normal=plane_normal, plane_origin=plane_origin)
if not slice3d:
return
slice2d, affn = slice3d.to_planar()
slice_poly = slice2d.polygons_full
if len(slice_poly) == 0:
return
slice_poly = np.column_stack((slice_poly[0].exterior.coords.xy))
homo_array = np.hstack((slice_poly, np.zeros((len(slice_poly), 1)), np.ones((len(slice_poly), 1))))
homo_3d = homo_array @ (affn.T)
poly_xy = homo_3d[:, :2] / homo_3d[:, -1, None]
return Polygon(poly_xy)
def mesh_poly_iou(self, mesh, rot_shp_poly, center_poly, visualize=False):
center_poly_xy = [center_poly.x, center_poly.y]
tmp_mesh_poly = self.get_polygon(mesh)
if not tmp_mesh_poly:
return 0, 1
tmp_mesh_b = calculate_bearing(tmp_mesh_poly)
rot_mesh_poly = rotate(tmp_mesh_poly, tmp_mesh_b)
center_mesh = rot_mesh_poly.centroid
center_mesh_xy = [center_mesh.x, center_mesh.y]
tmp_mesh_poly = translate(rot_mesh_poly, center_poly_xy[0] - center_mesh_xy[0],
center_poly_xy[1] - center_mesh_xy[1])
mesh_scale = self.get_reshape_scale(rot_shp_poly, tmp_mesh_poly)
scaled_mesh_poly = scale(tmp_mesh_poly, xfact=mesh_scale, yfact=mesh_scale, origin=center_poly)
iou = polygon_iou(rot_shp_poly, scaled_mesh_poly)
if visualize:
vis_polygon([rot_shp_poly, scaled_mesh_poly])
return iou, mesh_scale
def mesh_poly_transfer(self, mesh, polygon, mp_scale):
mesh.apply_scale(mp_scale)
mesh_point = mesh.vertices
min_z = np.min(mesh_point[:, 2])
tmp_mesh_poly = get_polygon(mesh)
if not tmp_mesh_poly:
return
cen_tmp_mesh_poly = tmp_mesh_poly.centroid
tmp_mesh_b = calculate_bearing(tmp_mesh_poly)
shp_poly_b = calculate_bearing(polygon)
rotation_matrix = trimesh.transformations.rotation_matrix(
np.radians(tmp_mesh_b - shp_poly_b), [0, 0, 1], (cen_tmp_mesh_poly.x, cen_tmp_mesh_poly.y, 0))
mesh.apply_transform(rotation_matrix)
tmp_mesh_poly = get_polygon(mesh)
cen_tmp_mesh_poly = tmp_mesh_poly.centroid
cen_polygon = polygon.centroid
mesh.apply_translation([cen_polygon.x - cen_tmp_mesh_poly.x, cen_polygon.y - cen_tmp_mesh_poly.y, -min_z])
return mesh
def gen_mesh_building_lod1(self, shp_polys, limit=None):
self.mesh_building = []
self.poly_building = []
shp_l = len(shp_polys)
for i in tqdm(range(shp_l)):
shp_poly = shp_polys[i]
if (limit is not None) and limit.intersection(shp_poly).any():
continue
self.poly_building.append(shp_poly)
vertices, faces = polygon_to_mesh_3D(shp_poly)
tmp_mesh = trimesh.Trimesh(vertices=vertices, faces=faces)
self.mesh_building.append(tmp_mesh)
self.building_limit = gpd.array.GeometryArray(np.array(self.poly_building))
return self.mesh_building
def gen_mesh_building_lod2(self, shp_polys, probabilities, limit=None, visualize=False):
shp_l = len(shp_polys)
# shp_polys = shp_poly.geometry.values
self.mesh_building = []
self.poly_building = []
for i in tqdm(range(shp_l)):
shp_poly = shp_polys[i]
shp_poly_b = calculate_bearing(shp_poly)
rot_shp_poly = rotate(shp_poly, shp_poly_b)
center_poly = rot_shp_poly.centroid
tmp_type_choice = random.choices(range(1, len(probabilities) + 1), probabilities)
tmp_type_id = np.where(self.obj_type == tmp_type_choice[0])[0]
idx_rand = random.sample(list(tmp_type_id), min(100, len(tmp_type_id)))
mp_iou, mp_scale = 0, 1
for j in idx_rand:
tmp_mesh = trimesh.load(os.path.join(self.obj_root, self.obj_mes['id'].values[j] + '.obj'))
tmp_mesh = tmp_mesh.dump(concatenate=True) if isinstance(tmp_mesh, trimesh.Scene) else tmp_mesh
tmp_iou, tmp_scale = self.mesh_poly_iou(tmp_mesh, rot_shp_poly, center_poly)
if tmp_iou > 0.85:
mp_iou, mp_scale = tmp_iou, tmp_scale
mesh_tar = tmp_mesh
break
if tmp_iou > mp_iou:
mp_iou, mp_scale = tmp_iou, tmp_scale
mesh_tar = tmp_mesh
mesh_tar = self.mesh_poly_transfer(mesh_tar, shp_poly, mp_scale)
if mesh_tar:
tmp_poly_building = get_polygon(mesh_tar)
if (not limit) or (not np.array([i for i in limit.intersection(tmp_poly_building)]).any()):
self.poly_building.append(tmp_poly_building)
self.mesh_building.append(mesh_tar)
self.building_limit = []
for xx in self.mesh_building:
self.building_limit.append(get_polygon(xx))
if visualize:
vis_polygon(self.building_limit)
self.building_limit = gpd.array.GeometryArray(np.array(self.building_limit))
return self.mesh_building
def set_building_storey(self):
low, high = self.low_storey * 3, self.high_storey * 3
for tmp_mesh in self.mesh_building:
rand_height = random.uniform(low, high)
mesh_point = tmp_mesh.vertices
mesh_point_z = mesh_point[:, 2]
min_z = np.min(mesh_point_z)
h_trans = rand_height - np.max(mesh_point_z)
mesh_point[:, 2][mesh_point_z > (min_z + 1.)] += h_trans
tmp_mesh.vertices = mesh_point
def add_relief(self, points_relief):
z_points_interpolate = relief_interpolate(self.mesh_building, points_relief)
if (z_points_interpolate is None):
return
for i, tmp_mesh in enumerate(self.mesh_building):
tmp_vertices = tmp_mesh.vertices
tmp_vertices[:, 2] += np.min(z_points_interpolate[i])
tmp_mesh.vertices = tmp_vertices
def create_citygml_building(self, buildings, lod=1, srs_name="http://www.opengis.net/def/crs/EPSG/0/30169",
srsDimension="3"):
nsmap = {
'core': "http://www.opengis.net/citygml/2.0",
'bldg': "http://www.opengis.net/citygml/building/2.0",
'gml': "http://www.opengis.net/gml"
}
cityModel = etree.Element("{http://www.opengis.net/citygml/2.0}CityModel", nsmap=nsmap)
total_vertices = []
for building in buildings:
total_vertices.append(building.vertices)
total_vertices = np.vstack(total_vertices)
x_max, y_max, z_max = np.max(total_vertices, axis=0)
x_min, y_min, z_min = np.min(total_vertices, axis=0)
boundedBy = etree.SubElement(cityModel, "{http://www.opengis.net/gml}boundedBy")
Envelope = etree.SubElement(boundedBy, "{http://www.opengis.net/gml}Envelope", srsName=srs_name,
srsDimension=srsDimension)
lowerCorner = etree.SubElement(Envelope, "{http://www.opengis.net/gml}lowerCorner")
upperCorner = etree.SubElement(Envelope, "{http://www.opengis.net/gml}upperCorner")
lowerCorner.text = '{} {} {}'.format(x_min, y_min, z_min)
upperCorner.text = '{} {} {}'.format(x_max, y_max, z_max)
if lod == 1:
for building_data in buildings:
vertices, faces = building_data.vertices, building_data.faces
building_member = etree.SubElement(cityModel, "{http://www.opengis.net/citygml/2.0}cityObjectMember")
building = etree.SubElement(building_member, "{http://www.opengis.net/citygml/building/2.0}Building")
lod1Solid = etree.SubElement(building, "{http://www.opengis.net/citygml/building/2.0}lod1Solid")
solid = etree.SubElement(lod1Solid, "{http://www.opengis.net/gml}Solid")
exterior = etree.SubElement(solid, "{http://www.opengis.net/gml}exterior")
compositeSurface = etree.SubElement(exterior, "{http://www.opengis.net/gml}CompositeSurface")
for face in faces:
surfaceMember = etree.SubElement(compositeSurface, "{http://www.opengis.net/gml}surfaceMember")
polygon = etree.SubElement(surfaceMember, "{http://www.opengis.net/gml}Polygon")
exterior = etree.SubElement(polygon, "{http://www.opengis.net/gml}exterior")
linearRing = etree.SubElement(exterior, "{http://www.opengis.net/gml}LinearRing")
posList = etree.SubElement(linearRing, "{http://www.opengis.net/gml}posList")
coords = ' '.join(
['{} {} {}'.format(vertices[idx][0], vertices[idx][1], vertices[idx][2]) for idx in face])
coords += ' {} {} {}'.format(vertices[face[0]][0], vertices[face[0]][1], vertices[face[0]][2])
posList.text = coords
elif lod == 2:
for building_data in buildings:
vertices, faces = building_data.vertices, building_data.faces
z_min, z_max = np.min(vertices[:, 2]), np.max(vertices[:, 2])
building_member = etree.SubElement(cityModel, "{http://www.opengis.net/citygml/2.0}cityObjectMember")
building = etree.SubElement(building_member, "{http://www.opengis.net/citygml/building/2.0}Building")
measuredHeight = etree.SubElement(building,
"{http://www.opengis.net/citygml/building/2.0}measuredHeight")
measuredHeight.text = str(round(z_max - z_min, 2))
for face in faces:
boundedBy = etree.SubElement(building,
"{http://www.opengis.net/citygml/building/2.0}boundedBy")
z_face = vertices[face][:, 2]
if (z_face - z_min < 1.).all():
typeSurface = etree.SubElement(boundedBy,
"{http://www.opengis.net/citygml/building/2.0}GroundSurface")
elif (z_face - z_min > 1.).all():
typeSurface = etree.SubElement(boundedBy,
"{http://www.opengis.net/citygml/building/2.0}RoofSurface")
else:
typeSurface = etree.SubElement(boundedBy,
"{http://www.opengis.net/citygml/building/2.0}WallSurface")
lod2MultiSurface = etree.SubElement(typeSurface,
"{http://www.opengis.net/citygml/building/2.0}lod2MultiSurface")
MultiSurface = etree.SubElement(lod2MultiSurface, "{http://www.opengis.net/gml}MultiSurface")
surfaceMember = etree.SubElement(MultiSurface, "{http://www.opengis.net/gml}surfaceMember")
polygon = etree.SubElement(surfaceMember, "{http://www.opengis.net/gml}Polygon")
exterior = etree.SubElement(polygon, "{http://www.opengis.net/gml}exterior")
linearRing = etree.SubElement(exterior, "{http://www.opengis.net/gml}LinearRing")
posList = etree.SubElement(linearRing, "{http://www.opengis.net/gml}posList")
coords = ' '.join(
['{} {} {}'.format(vertices[idx][0], vertices[idx][1], vertices[idx][2]) for idx in face])
coords += ' {} {} {}'.format(vertices[face[0]][0], vertices[face[0]][1], vertices[face[0]][2])
posList.text = coords
return cityModel
def gen_building_run(self, building_lod=2, limit=None, points_relief=None, visualize=False, save_gml=True,
gml_root=''):
if building_lod == 1:
self.gen_mesh_building_lod1(self.bdg_src, limit)
self.set_building_storey()
if building_lod == 2:
self.gen_mesh_building_lod2(self.bdg_src, self.probabilities, limit, visualize)
if self.low_storey and self.high_storey:
self.set_building_storey()
self.add_relief(points_relief)
if save_gml:
building_gml = self.create_citygml_building(self.mesh_building, building_lod)
save_citygml(building_gml, os.path.join(gml_root, 'building.gml'))
return self.mesh_building
class genVegetation:
def __init__(self,