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visual_3d_layout.py
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visual_3d_layout.py
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import numpy as np
from scipy.ndimage import map_coordinates
import open3d
from PIL import Image
from shapely.geometry import Point
from shapely.geometry.polygon import Polygon
import functools
from multiprocessing import Pool
from utils_eval import np_coor2xy, np_coory2v
def xyz_2_coorxy(xs, ys, zs, H, W):
us = np.arctan2(xs, -ys)
vs = -np.arctan(zs / np.sqrt(xs**2 + ys**2))
coorx = (us / (2 * np.pi) + 0.5) * W
coory = (vs / np.pi + 0.5) * H
return coorx, coory
def pt_in_poly(poly, pt):
return poly.contains(Point(pt))
def warp_walls(xy, floor_z, ceil_z, H, W, ppm, alpha):
all_rgba = []
all_xyz = []
for i in range(len(xy)):
next_i = (i + 1) % len(xy)
xy_a = xy[i]
xy_b = xy[next_i]
xy_w = np.sqrt(((xy_a - xy_b)**2).sum())
t_h = int(round((ceil_z - floor_z) * ppm))
t_w = int(round(xy_w * ppm))
xs = np.linspace(xy_a[0], xy_b[0], t_w)[None].repeat(t_h, 0)
ys = np.linspace(xy_a[1], xy_b[1], t_w)[None].repeat(t_h, 0)
zs = np.linspace(floor_z, ceil_z, t_h)[:, None].repeat(t_w, 1)
coorx, coory = xyz_2_coorxy(xs, ys, zs, H, W)
plane_texture = np.stack([
map_coordinates(equirect_texture[..., 0], [coory, coorx], order=1, mode='wrap'),
map_coordinates(equirect_texture[..., 1], [coory, coorx], order=1, mode='wrap'),
map_coordinates(equirect_texture[..., 2], [coory, coorx], order=1, mode='wrap'),
np.zeros([t_h, t_w]) + alpha,
], -1)
plane_xyz = np.stack([xs, ys, zs], axis=-1)
all_rgba.extend(plane_texture.reshape(-1, 4))
all_xyz.extend(plane_xyz.reshape(-1, 3))
return all_rgba, all_xyz
def warp_floor_ceiling(xy, z_floor, z_ceiling, H, W, ppm, alpha, n_thread):
min_x = xy[:, 0].min()
max_x = xy[:, 0].max()
min_y = xy[:, 1].min()
max_y = xy[:, 1].max()
t_h = int(round((max_y - min_y) * ppm))
t_w = int(round((max_x - min_x) * ppm))
xs = np.linspace(min_x, max_x, t_w)[None].repeat(t_h, 0)
ys = np.linspace(min_y, max_y, t_h)[:, None].repeat(t_w, 1)
zs_floor = np.zeros_like(xs) + z_floor
zs_ceil = np.zeros_like(xs) + z_ceiling
coorx_floor, coory_floor = xyz_2_coorxy(xs, ys, zs_floor, H, W)
coorx_ceil, coory_ceil = xyz_2_coorxy(xs, ys, zs_ceil, H, W)
floor_texture = np.stack([
map_coordinates(equirect_texture[..., 0], [coory_floor, coorx_floor], order=1, mode='wrap'),
map_coordinates(equirect_texture[..., 1], [coory_floor, coorx_floor], order=1, mode='wrap'),
map_coordinates(equirect_texture[..., 2], [coory_floor, coorx_floor], order=1, mode='wrap'),
np.zeros([t_h, t_w]) + alpha,
], -1).reshape(-1, 4)
floor_xyz = np.stack([xs, ys, zs_floor], axis=-1).reshape(-1, 3)
ceil_texture = np.stack([
map_coordinates(equirect_texture[..., 0], [coory_ceil, coorx_ceil], order=1, mode='wrap'),
map_coordinates(equirect_texture[..., 1], [coory_ceil, coorx_ceil], order=1, mode='wrap'),
map_coordinates(equirect_texture[..., 2], [coory_ceil, coorx_ceil], order=1, mode='wrap'),
np.zeros([t_h, t_w]) + alpha,
], -1).reshape(-1, 4)
ceil_xyz = np.stack([xs, ys, zs_ceil], axis=-1).reshape(-1, 3)
xy_poly = Polygon(xy)
with Pool(n_thread) as p:
sel = p.map(functools.partial(pt_in_poly, xy_poly), floor_xyz[:, :2])
return floor_texture[sel], floor_xyz[sel], ceil_texture[sel], ceil_xyz[sel]
if __name__ == '__main__':
import argparse
parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('--img', default='assert/output_preprocess/demo_aligned_rgb.png',
help='Image texture in equirectangular format')
parser.add_argument('--layout', default='assert/output/demo_aligned_rgb_cor_id.txt',
help='Txt file containing layout corners (cor_id)')
parser.add_argument('--camera_height', default=1.6, type=float,
help='Camera height in meter (not the viewer camera)')
parser.add_argument('--ppm', default=120, type=int,
help='Points per meter')
parser.add_argument('--point_size', default=0.0025, type=int,
help='Point size')
parser.add_argument('--alpha', default=1.0, type=float,
help='Opacity of the texture')
parser.add_argument('--threads', default=10, type=int,
help='Number of threads to use')
parser.add_argument('--ignore_floor', action='store_true',
help='Skip rendering floor')
parser.add_argument('--ignore_ceiling', action='store_true',
help='Skip rendering ceiling')
args = parser.parse_args()
# Reading source (texture img, cor_id txt)
equirect_texture = np.array(Image.open(args.img)) / 255.0
with open(args.layout) as f:
cor_id = np.array([line.split() for line in f], np.float32)
# Convert cor_id to 3d xyz
N = len(cor_id) // 2
H, W = equirect_texture.shape[:2]
floor_z = -args.camera_height
floor_xy = np_coor2xy(cor_id[1::2], floor_z, W, H)
c = np.sqrt((floor_xy**2).sum(1))
v = np_coory2v(cor_id[0::2, 1], H)
ceil_z = (c * np.tan(v)).mean()
# Warp each wall
all_rgba, all_xyz = warp_walls(floor_xy, floor_z, ceil_z, H, W, args.ppm, args.alpha)
# Warp floor and ceiling
if not args.ignore_floor or not args.ignore_ceiling:
fi, fp, ci, cp = warp_floor_ceiling(floor_xy, floor_z, ceil_z, H, W,
ppm=args.ppm,
alpha=args.alpha,
n_thread=args.threads)
if not args.ignore_floor:
all_rgba.extend(fi)
all_xyz.extend(fp)
if not args.ignore_ceiling:
all_rgba.extend(ci)
all_xyz.extend(cp)
# Launch point cloud viewer
print('# of points:', len(all_rgba))
all_xyz = np.array(all_xyz)
all_rgb = np.array(all_rgba)[:, :3]
pcd = open3d.PointCloud()
pcd.points = open3d.Vector3dVector(all_xyz)
pcd.colors = open3d.Vector3dVector(all_rgb)
open3d.draw_geometries([pcd])