File size: 7,271 Bytes
424188c |
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 |
"""
Copy from https://github.com/sunset1995/pytorch-layoutnet/blob/master/pano.py
"""
import numpy as np
import numpy.matlib as matlib
def xyz_2_coorxy(xs, ys, zs, H=512, W=1024):
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 coords2uv(coords, width, height):
"""
Image coordinates (xy) to uv
"""
middleX = width / 2 + 0.5
middleY = height / 2 + 0.5
uv = np.hstack([
(coords[:, [0]] - middleX) / width * 2 * np.pi,
-(coords[:, [1]] - middleY) / height * np.pi])
return uv
def uv2xyzN(uv, planeID=1):
ID1 = (int(planeID) - 1 + 0) % 3
ID2 = (int(planeID) - 1 + 1) % 3
ID3 = (int(planeID) - 1 + 2) % 3
xyz = np.zeros((uv.shape[0], 3))
xyz[:, ID1] = np.cos(uv[:, 1]) * np.sin(uv[:, 0])
xyz[:, ID2] = np.cos(uv[:, 1]) * np.cos(uv[:, 0])
xyz[:, ID3] = np.sin(uv[:, 1])
return xyz
def uv2xyzN_vec(uv, planeID):
"""
vectorization version of uv2xyzN
@uv N x 2
@planeID N
"""
assert (planeID.astype(int) != planeID).sum() == 0
planeID = planeID.astype(int)
ID1 = (planeID - 1 + 0) % 3
ID2 = (planeID - 1 + 1) % 3
ID3 = (planeID - 1 + 2) % 3
ID = np.arange(len(uv))
xyz = np.zeros((len(uv), 3))
xyz[ID, ID1] = np.cos(uv[:, 1]) * np.sin(uv[:, 0])
xyz[ID, ID2] = np.cos(uv[:, 1]) * np.cos(uv[:, 0])
xyz[ID, ID3] = np.sin(uv[:, 1])
return xyz
def xyz2uvN(xyz, planeID=1):
ID1 = (int(planeID) - 1 + 0) % 3
ID2 = (int(planeID) - 1 + 1) % 3
ID3 = (int(planeID) - 1 + 2) % 3
normXY = np.sqrt(xyz[:, [ID1]] ** 2 + xyz[:, [ID2]] ** 2)
normXY[normXY < 0.000001] = 0.000001
normXYZ = np.sqrt(xyz[:, [ID1]] ** 2 + xyz[:, [ID2]] ** 2 + xyz[:, [ID3]] ** 2)
v = np.arcsin(xyz[:, [ID3]] / normXYZ)
u = np.arcsin(xyz[:, [ID1]] / normXY)
valid = (xyz[:, [ID2]] < 0) & (u >= 0)
u[valid] = np.pi - u[valid]
valid = (xyz[:, [ID2]] < 0) & (u <= 0)
u[valid] = -np.pi - u[valid]
uv = np.hstack([u, v])
uv[np.isnan(uv[:, 0]), 0] = 0
return uv
def computeUVN(n, in_, planeID):
"""
compute v given u and normal.
"""
if planeID == 2:
n = np.array([n[1], n[2], n[0]])
elif planeID == 3:
n = np.array([n[2], n[0], n[1]])
bc = n[0] * np.sin(in_) + n[1] * np.cos(in_)
bs = n[2]
out = np.arctan(-bc / (bs + 1e-9))
return out
def computeUVN_vec(n, in_, planeID):
"""
vectorization version of computeUVN
@n N x 3
@in_ MN x 1
@planeID N
"""
n = n.copy()
if (planeID == 2).sum():
n[planeID == 2] = np.roll(n[planeID == 2], 2, axis=1)
if (planeID == 3).sum():
n[planeID == 3] = np.roll(n[planeID == 3], 1, axis=1)
n = np.repeat(n, in_.shape[0] // n.shape[0], axis=0)
assert n.shape[0] == in_.shape[0]
bc = n[:, [0]] * np.sin(in_) + n[:, [1]] * np.cos(in_)
bs = n[:, [2]]
out = np.arctan(-bc / (bs + 1e-9))
return out
def lineFromTwoPoint(pt1, pt2):
"""
Generate line segment based on two points on panorama
pt1, pt2: two points on panorama
line:
1~3-th dim: normal of the line
4-th dim: the projection dimension ID
5~6-th dim: the u of line segment endpoints in projection plane
"""
numLine = pt1.shape[0]
lines = np.zeros((numLine, 6))
n = np.cross(pt1, pt2)
n = n / (matlib.repmat(np.sqrt(np.sum(n ** 2, 1, keepdims=True)), 1, 3) + 1e-9)
lines[:, 0:3] = n
areaXY = np.abs(np.sum(n * matlib.repmat([0, 0, 1], numLine, 1), 1, keepdims=True))
areaYZ = np.abs(np.sum(n * matlib.repmat([1, 0, 0], numLine, 1), 1, keepdims=True))
areaZX = np.abs(np.sum(n * matlib.repmat([0, 1, 0], numLine, 1), 1, keepdims=True))
planeIDs = np.argmax(np.hstack([areaXY, areaYZ, areaZX]), axis=1) + 1
lines[:, 3] = planeIDs
for i in range(numLine):
uv = xyz2uvN(np.vstack([pt1[i, :], pt2[i, :]]), lines[i, 3])
umax = uv[:, 0].max() + np.pi
umin = uv[:, 0].min() + np.pi
if umax - umin > np.pi:
lines[i, 4:6] = np.array([umax, umin]) / 2 / np.pi
else:
lines[i, 4:6] = np.array([umin, umax]) / 2 / np.pi
return lines
def lineIdxFromCors(cor_all, im_w, im_h):
assert len(cor_all) % 2 == 0
uv = coords2uv(cor_all, im_w, im_h)
xyz = uv2xyzN(uv)
lines = lineFromTwoPoint(xyz[0::2], xyz[1::2])
num_sample = max(im_h, im_w)
cs, rs = [], []
for i in range(lines.shape[0]):
n = lines[i, 0:3]
sid = lines[i, 4] * 2 * np.pi
eid = lines[i, 5] * 2 * np.pi
if eid < sid:
x = np.linspace(sid, eid + 2 * np.pi, num_sample)
x = x % (2 * np.pi)
else:
x = np.linspace(sid, eid, num_sample)
u = -np.pi + x.reshape(-1, 1)
v = computeUVN(n, u, lines[i, 3])
xyz = uv2xyzN(np.hstack([u, v]), lines[i, 3])
uv = xyz2uvN(xyz, 1)
r = np.minimum(np.floor((uv[:, 0] + np.pi) / (2 * np.pi) * im_w) + 1,
im_w).astype(np.int32)
c = np.minimum(np.floor((np.pi / 2 - uv[:, 1]) / np.pi * im_h) + 1,
im_h).astype(np.int32)
cs.extend(r - 1)
rs.extend(c - 1)
return rs, cs
def draw_boundary_from_cor_id(cor_id, img_src):
im_h, im_w = img_src.shape[:2]
cor_all = [cor_id]
for i in range(len(cor_id)):
cor_all.append(cor_id[i, :])
cor_all.append(cor_id[(i+2) % len(cor_id), :])
cor_all = np.vstack(cor_all)
rs, cs = lineIdxFromCors(cor_all, im_w, im_h)
rs = np.array(rs)
cs = np.array(cs)
panoEdgeC = img_src.astype(np.uint8)
for dx, dy in [[-1, 0], [1, 0], [0, 0], [0, 1], [0, -1]]:
panoEdgeC[np.clip(rs + dx, 0, im_h - 1), np.clip(cs + dy, 0, im_w - 1), 0] = 0
panoEdgeC[np.clip(rs + dx, 0, im_h - 1), np.clip(cs + dy, 0, im_w - 1), 1] = 0
panoEdgeC[np.clip(rs + dx, 0, im_h - 1), np.clip(cs + dy, 0, im_w - 1), 2] = 255
return panoEdgeC
def coorx2u(x, w=1024):
return ((x + 0.5) / w - 0.5) * 2 * np.pi
def coory2v(y, h=512):
return ((y + 0.5) / h - 0.5) * np.pi
def u2coorx(u, w=1024):
return (u / (2 * np.pi) + 0.5) * w - 0.5
def v2coory(v, h=512):
return (v / np.pi + 0.5) * h - 0.5
def uv2xy(u, v, z=-50):
c = z / np.tan(v)
x = c * np.cos(u)
y = c * np.sin(u)
return x, y
def pano_connect_points(p1, p2, z=-50, w=1024, h=512):
u1 = coorx2u(p1[0], w)
v1 = coory2v(p1[1], h)
u2 = coorx2u(p2[0], w)
v2 = coory2v(p2[1], h)
x1, y1 = uv2xy(u1, v1, z)
x2, y2 = uv2xy(u2, v2, z)
if abs(p1[0] - p2[0]) < w / 2:
pstart = np.ceil(min(p1[0], p2[0]))
pend = np.floor(max(p1[0], p2[0]))
else:
pstart = np.ceil(max(p1[0], p2[0]))
pend = np.floor(min(p1[0], p2[0]) + w)
coorxs = (np.arange(pstart, pend + 1) % w).astype(np.float64)
vx = x2 - x1
vy = y2 - y1
us = coorx2u(coorxs, w)
ps = (np.tan(us) * x1 - y1) / (vy - np.tan(us) * vx)
cs = np.sqrt((x1 + ps * vx) ** 2 + (y1 + ps * vy) ** 2)
vs = np.arctan2(z, cs)
coorys = v2coory(vs)
return np.stack([coorxs, coorys], axis=-1)
|