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plane_utils.py
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plane_utils.py
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"""
Copyright (C) 2019 NVIDIA Corporation. All rights reserved.
Licensed under the CC BY-NC-SA 4.0 license
(https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode).
"""
import numpy as np
from utils import *
def getCameraFromInfo(info):
camera = {}
camera['fx'] = info[0]
camera['fy'] = info[5]
camera['cx'] = info[2]
camera['cy'] = info[6]
camera['width'] = info[16]
camera['height'] = info[17]
camera['depth_shift'] = info[18]
return camera
def one_hot(values, depth):
maxInds = values.reshape(-1)
results = np.zeros([maxInds.shape[0], depth])
results[np.arange(maxInds.shape[0]), maxInds] = 1
results = results.reshape(list(values.shape) + [depth])
return results
def normalize(values):
return values / np.maximum(np.linalg.norm(values, axis=-1, keepdims=True), 1e-4)
def calcNormal(depth, info):
height = depth.shape[0]
width = depth.shape[1]
camera = getCameraFromInfo(info)
urange = (np.arange(width, dtype=np.float32) / (width) * (camera['width']) - camera['cx']) / camera['fx']
urange = urange.reshape(1, -1).repeat(height, 0)
vrange = (np.arange(height, dtype=np.float32) / (height) * (camera['height']) - camera['cy']) / camera['fy']
vrange = vrange.reshape(-1, 1).repeat(width, 1)
X = depth * urange
Y = depth
Z = -depth * vrange
points = np.stack([X, Y, Z], axis=2).reshape(-1, 3)
if width > 300:
grids = np.array([-9, -6, -3, -1, 0, 1, 3, 6, 9])
else:
grids = np.array([-5, -3, -1, 0, 1, 3, 5])
normals = []
for index in range(width * height):
us = index % width + grids
us = us[np.logical_and(us >= 0, us < width)]
vs = index // width + grids
vs = vs[np.logical_and(vs >= 0, vs < height)]
indices = (np.expand_dims(vs, -1) * width + np.expand_dims(us, 0)).reshape(-1).astype(np.int32)
planePoints = points[indices]
planePoints = planePoints[np.linalg.norm(planePoints, axis=-1) > 1e-4]
planePoints = planePoints[np.abs(planePoints[:, 1] - points[index][1]) < 0.05]
try:
plane = fitPlane(planePoints)
normals.append(-plane / np.maximum(np.linalg.norm(plane), 1e-4))
except:
if len(normals) > 0:
normals.append(normals[-1])
else:
normals.append([0, -1, 0])
pass
pass
continue
normal = np.array(normals).reshape((height, width, 3))
return normal
def getSegmentationsGraphCut(planes, image, depth, normal, semantics, info, parameters={}):
height = depth.shape[0]
width = depth.shape[1]
numPlanes = planes.shape[0]
camera = getCameraFromInfo(info)
urange = (np.arange(width, dtype=np.float32) / (width) * (camera['width']) - camera['cx']) / camera['fx']
urange = urange.reshape(1, -1).repeat(height, 0)
vrange = (np.arange(height, dtype=np.float32) / (height) * (camera['height']) - camera['cy']) / camera['fy']
vrange = vrange.reshape(-1, 1).repeat(width, 1)
X = depth * urange
Y = depth
Z = -depth * vrange
points = np.stack([X, Y, Z], axis=2)
planes = planes[:numPlanes]
planesD = np.linalg.norm(planes, axis=1, keepdims=True)
planeNormals = planes / np.maximum(planesD, 1e-4)
if 'distanceCostThreshold' in parameters:
distanceCostThreshold = parameters['distanceCostThreshold']
else:
distanceCostThreshold = 0.05
pass
distanceCost = np.abs(np.tensordot(points, planeNormals, axes=([2, 1])) - np.reshape(planesD, [1, 1, -1])) / distanceCostThreshold
distanceCost = np.concatenate([distanceCost, np.ones((height, width, 1))], axis=2)
normalCostThreshold = 1 - np.cos(np.deg2rad(30))
normalCost = (1 - np.abs(np.tensordot(normal, planeNormals, axes=([2, 1])))) / normalCostThreshold
normalCost = np.concatenate([normalCost, np.ones((height, width, 1))], axis=2)
unaryCost = distanceCost + normalCost
unaryCost *= np.expand_dims((depth > 1e-4).astype(np.float32), -1)
unaries = -unaryCost.reshape((-1, numPlanes + 1))
cv2.imwrite('test/distance_cost.png', drawSegmentationImage(-distanceCost.reshape((height, width, -1)), unaryCost.shape[-1] - 1))
cv2.imwrite('test/normal_cost.png', drawSegmentationImage(-normalCost.reshape((height, width, -1)), unaryCost.shape[-1] - 1))
cv2.imwrite('test/unary_cost.png', drawSegmentationImage(-unaryCost.reshape((height, width, -1)), blackIndex=unaryCost.shape[-1] - 1))
cv2.imwrite('test/segmentation.png', drawSegmentationImage(unaries.reshape((height, width, -1)), blackIndex=numPlanes))
nodes = np.arange(height * width).reshape((height, width))
image = image.astype(np.float32)
colors = image.reshape((-1, 3))
deltas = [(0, 1), (1, 0), (-1, 1), (1, 1)]
intensityDifferenceSum = 0.0
intensityDifferenceCount = 0
for delta in deltas:
deltaX = delta[0]
deltaY = delta[1]
partial_nodes = nodes[max(-deltaY, 0):min(height - deltaY, height), max(-deltaX, 0):min(width - deltaX, width)].reshape(-1)
intensityDifferenceSum += np.sum(pow(colors[partial_nodes] - colors[partial_nodes + (deltaY * width + deltaX)], 2))
intensityDifferenceCount += partial_nodes.shape[0]
continue
intensityDifference = intensityDifferenceSum / intensityDifferenceCount
edges = []
edges_features = []
pairwise_matrix = 1 - np.diag(np.ones(numPlanes + 1))
for delta in deltas:
deltaX = delta[0]
deltaY = delta[1]
partial_nodes = nodes[max(-deltaY, 0):min(height - deltaY, height), max(-deltaX, 0):min(width - deltaX, width)].reshape(-1)
edges.append(np.stack([partial_nodes, partial_nodes + (deltaY * width + deltaX)], axis=1))
colorDiff = np.sum(pow(colors[partial_nodes] - colors[partial_nodes + (deltaY * width + deltaX)], 2), axis=1)
pairwise_cost = np.expand_dims(pairwise_matrix, 0) * np.reshape(1 + 45 * np.exp(-colorDiff / intensityDifference), [-1, 1, 1])
edges_features.append(pairwise_cost)
continue
edges = np.concatenate(edges, axis=0)
edges_features = np.concatenate(edges_features, axis=0)
if 'smoothnessWeight' in parameters:
smoothnessWeight = parameters['smoothnessWeight']
else:
smoothnessWeight = 0.02
pass
print('start')
refined_segmentation = inference_ogm(unaries, -edges_features * smoothnessWeight, edges, return_energy=False, alg='alphaexp')
print('done')
refined_segmentation = refined_segmentation.reshape([height, width])
if 'semantics' in parameters and parameters['semantics']:
for semanticIndex in np.unique(semantics):
mask = semantics == semanticIndex
segmentInds = refined_segmentation[mask]
uniqueSegments, counts = np.unique(segmentInds, return_counts=True)
for index, count in enumerate(counts):
if count > segmentInds.shape[0] * 0.9:
refined_segmentation[mask] = uniqueSegments[index]
pass
continue
continue
pass
return refined_segmentation
def fitPlanesNYU(image, depth, normal, semantics, info, numOutputPlanes=20, local=-1, parameters={}):
camera = getCameraFromInfo(info)
width = depth.shape[1]
height = depth.shape[0]
urange = (np.arange(width, dtype=np.float32) / width * camera['width'] - camera['cx']) / camera['fx']
urange = urange.reshape(1, -1).repeat(height, 0)
vrange = (np.arange(height, dtype=np.float32) / height * camera['height'] - camera['cy']) / camera['fy']
vrange = vrange.reshape(-1, 1).repeat(width, 1)
X = depth * urange
Y = depth
Z = -depth * vrange
XYZ = np.stack([X, Y, Z], axis=2).reshape(-1, 3)
planes = []
planeMasks = []
invalidDepthMask = depth < 1e-4
if 'planeAreaThreshold' in parameters:
planeAreaThreshold = parameters['planeAreaThreshold']
else:
planeAreaThreshold = 500
pass
if 'distanceThreshold' in parameters:
distanceThreshold = parameters['distanceThreshold']
else:
distanceThreshold = 0.05
pass
if 'local' in parameters:
local = parameters['local']
else:
local = 0.2
pass
for y in range(5, height, 10):
for x in range(5, width, 10):
if invalidDepthMask[y][x]:
continue
sampledPoint = XYZ[y * width + x]
sampledPoints = XYZ[np.linalg.norm(XYZ - sampledPoint, 2, 1) < local]
if sampledPoints.shape[0] < 3:
continue
sampledPoints = sampledPoints[np.random.choice(np.arange(sampledPoints.shape[0]), size=(3))]
try:
plane = fitPlane(sampledPoints)
pass
except:
continue
diff = np.abs(np.matmul(XYZ, plane) - np.ones(XYZ.shape[0])) / np.linalg.norm(plane)
inlierIndices = diff < distanceThreshold
if np.sum(inlierIndices) < planeAreaThreshold:
continue
planes.append(plane)
planeMasks.append(inlierIndices.reshape((height, width)))
continue
continue
planes = np.array(planes)
planeList = zip(planes, planeMasks)
planeList = sorted(planeList, key=lambda x:-x[1].sum())
planes, planeMasks = zip(*planeList)
invalidMask = np.zeros((height, width), np.bool)
validPlanes = []
validPlaneMasks = []
for planeIndex, plane in enumerate(planes):
planeMask = planeMasks[planeIndex]
if np.logical_and(planeMask, invalidMask).sum() > planeMask.sum() * 0.5:
continue
validPlanes.append(plane)
validPlaneMasks.append(planeMask)
invalidMask = np.logical_or(invalidMask, planeMask)
continue
planes = np.array(validPlanes)
planesD = 1 / np.maximum(np.linalg.norm(planes, 2, 1, keepdims=True), 1e-4)
planes *= pow(planesD, 2)
planeMasks = np.stack(validPlaneMasks, axis=2)
cv2.imwrite('test/depth.png', drawDepthImage(depth))
for planeIndex in range(planes.shape[0]):
cv2.imwrite('test/mask_' + str(planeIndex) + '.png', drawMaskImage(planeMasks[:, :, planeIndex]))
continue
print('number of planes: ' + str(planes.shape[0]))
planeSegmentation = getSegmentationsGraphCut(planes, image, depth, normal, semantics, info, parameters=parameters)
cv2.imwrite('test/segmentation_refined.png', drawSegmentationImage(planeSegmentation, blackIndex=planes.shape[0]))
return planes, planeSegmentation
def readProposalInfo(info, proposals):
numProposals = proposals.shape[-1]
outputShape = list(info.shape)
outputShape[-1] = numProposals
info = info.reshape([-1, info.shape[-1]])
proposals = proposals.reshape([-1, proposals.shape[-1]])
proposalInfo = []
for proposal in xrange(numProposals):
proposalInfo.append(info[np.arange(info.shape[0]), proposals[:, proposal]])
continue
proposalInfo = np.stack(proposalInfo, axis=1).reshape(outputShape)
return proposalInfo
def fitPlanesManhattan(image, depth, normal, info, numOutputPlanes=20, imageIndex=-1, parameters={}):
if 'meanshift' in parameters and parameters['meanshift'] > 0:
import sklearn.cluster
meanshift = sklearn.cluster.MeanShift(parameters['meanshift'])
pass
height = depth.shape[0]
width = depth.shape[1]
camera = getCameraFromInfo(info)
urange = (np.arange(width, dtype=np.float32) / (width) * (camera['width']) - camera['cx']) / camera['fx']
urange = urange.reshape(1, -1).repeat(height, 0)
vrange = (np.arange(height, dtype=np.float32) / (height) * (camera['height']) - camera['cy']) / camera['fy']
vrange = vrange.reshape(-1, 1).repeat(width, 1)
X = depth * urange
Y = depth
Z = -depth * vrange
normals = normal.reshape((-1, 3))
normals = normals / np.maximum(np.linalg.norm(normals, axis=-1, keepdims=True), 1e-4)
validMask = np.logical_and(np.linalg.norm(normals, axis=-1) > 1e-4, depth.reshape(-1) > 1e-4)
valid_normals = normals[validMask]
points = np.stack([X, Y, Z], axis=2).reshape(-1, 3)
valid_points = points[validMask]
polarAngles = np.arange(16) * np.pi / 2 / 16
azimuthalAngles = np.arange(64) * np.pi * 2 / 64
polarAngles = np.expand_dims(polarAngles, -1)
azimuthalAngles = np.expand_dims(azimuthalAngles, 0)
normalBins = np.stack([np.sin(polarAngles) * np.cos(azimuthalAngles), np.tile(np.cos(polarAngles), [1, azimuthalAngles.shape[1]]), -np.sin(polarAngles) * np.sin(azimuthalAngles)], axis=2)
normalBins = np.reshape(normalBins, [-1, 3])
numBins = normalBins.shape[0]
normalDiff = np.tensordot(valid_normals, normalBins, axes=([1], [1]))
normalDiffSign = np.sign(normalDiff)
normalDiff = np.maximum(normalDiff, -normalDiff)
normalMask = one_hot(np.argmax(normalDiff, axis=-1), numBins)
bins = normalMask.sum(0)
np.expand_dims(valid_normals, 1) * np.expand_dims(normalMask, -1)
maxNormals = np.expand_dims(valid_normals, 1) * np.expand_dims(normalMask, -1)
maxNormals *= np.expand_dims(normalDiffSign, -1)
averageNormals = maxNormals.sum(0) / np.maximum(np.expand_dims(bins, -1), 1e-4)
averageNormals /= np.maximum(np.linalg.norm(averageNormals, axis=-1, keepdims=True), 1e-4)
dominantNormal_1 = averageNormals[np.argmax(bins)]
dotThreshold_1 = np.cos(np.deg2rad(100))
dotThreshold_2 = np.cos(np.deg2rad(80))
dot_1 = np.tensordot(normalBins, dominantNormal_1, axes=([1], [0]))
bins[np.logical_or(dot_1 < dotThreshold_1, dot_1 > dotThreshold_2)] = 0
dominantNormal_2 = averageNormals[np.argmax(bins)]
dot_2 = np.tensordot(normalBins, dominantNormal_2, axes=([1], [0]))
bins[np.logical_or(dot_2 < dotThreshold_1, dot_2 > dotThreshold_2)] = 0
dominantNormal_3 = averageNormals[np.argmax(bins)]
dominantNormals = np.stack([dominantNormal_1, dominantNormal_2, dominantNormal_3], axis=0)
dominantNormalImage = np.abs(np.matmul(normal, dominantNormals.transpose()))
planeHypothesisAreaThreshold = width * height * 0.01
planes = []
if 'offsetGap' in parameters:
offsetGap = parameters['offsetGap']
else:
offsetGap = 0.1
pass
for dominantNormal in dominantNormals:
offsets = np.tensordot(valid_points, dominantNormal, axes=([1], [0]))
if 'meanshift' in parameters and parameters['meanshift'] > 0:
sampleInds = np.arange(offsets.shape[0])
np.random.shuffle(sampleInds)
meanshift.fit(np.expand_dims(offsets[sampleInds[:int(offsets.shape[0] * 0.02)]], -1))
for offset in meanshift.cluster_centers_:
planes.append(dominantNormal * offset)
continue
offset = offsets.min()
maxOffset = offsets.max()
while offset < maxOffset:
planeMask = np.logical_and(offsets >= offset, offsets < offset + offsetGap)
segmentOffsets = offsets[np.logical_and(offsets >= offset, offsets < offset + offsetGap)]
if segmentOffsets.shape[0] < planeHypothesisAreaThreshold:
offset += offsetGap
continue
planeD = segmentOffsets.mean()
planes.append(dominantNormal * planeD)
offset = planeD + offsetGap
continue
continue
if len(planes) == 0:
return np.array([]), np.zeros(segmentation.shape).astype(np.int32)
planes = np.array(planes)
print('number of planes ', planes.shape[0])
vanishingPoints = np.stack([dominantNormals[:, 0] / np.maximum(dominantNormals[:, 1], 1e-4) * info[0] + info[2], -dominantNormals[:, 2] / np.maximum(dominantNormals[:, 1], 1e-4) * info[5] + info[6]], axis=1)
vanishingPoints[:, 0] *= width / info[16]
vanishingPoints[:, 1] *= height / info[17]
indices = np.arange(width * height, dtype=np.int32)
uv = np.stack([indices % width, indices // width], axis=1)
colors = image.reshape((-1, 3))
windowW = 9
windowH = 3
dominantLineMaps = []
for vanishingPointIndex, vanishingPoint in enumerate(vanishingPoints):
horizontalDirection = uv - np.expand_dims(vanishingPoint, 0)
horizontalDirection = horizontalDirection / np.maximum(np.linalg.norm(horizontalDirection, axis=1, keepdims=True), 1e-4)
verticalDirection = np.stack([horizontalDirection[:, 1], -horizontalDirection[:, 0]], axis=1)
colorDiffs = []
for directionIndex, direction in enumerate([horizontalDirection, verticalDirection]):
neighbors = uv + direction
neighborsX = neighbors[:, 0]
neighborsY = neighbors[:, 1]
neighborsMinX = np.maximum(np.minimum(np.floor(neighborsX).astype(np.int32), width - 1), 0)
neighborsMaxX = np.maximum(np.minimum(np.ceil(neighborsX).astype(np.int32), width - 1), 0)
neighborsMinY = np.maximum(np.minimum(np.floor(neighborsY).astype(np.int32), height - 1), 0)
neighborsMaxY = np.maximum(np.minimum(np.ceil(neighborsY).astype(np.int32), height - 1), 0)
indices_1 = neighborsMinY * width + neighborsMinX
indices_2 = neighborsMaxY * width + neighborsMinX
indices_3 = neighborsMinY * width + neighborsMaxX
indices_4 = neighborsMaxY * width + neighborsMaxX
areas_1 = (neighborsMaxX - neighborsX) * (neighborsMaxY - neighborsY)
areas_2 = (neighborsMaxX - neighborsX) * (neighborsY - neighborsMinY)
areas_3 = (neighborsX - neighborsMinX) * (neighborsMaxY - neighborsY)
areas_4 = (neighborsX - neighborsMinX) * (neighborsY - neighborsMinY)
neighborsColor = colors[indices_1] * np.expand_dims(areas_1, -1) + colors[indices_2] * np.expand_dims(areas_2, -1) + colors[indices_3] * np.expand_dims(areas_3, -1) + colors[indices_4] * np.expand_dims(areas_4, -1)
colorDiff = np.linalg.norm(neighborsColor - colors, axis=-1)
colorDiffs.append(colorDiff)
continue
colorDiffs = np.stack(colorDiffs, 1)
deltaUs, deltaVs = np.meshgrid(np.arange(windowW) - (windowW - 1) / 2, np.arange(windowH) - (windowH - 1) / 2)
deltas = deltaUs.reshape((1, -1, 1)) * np.expand_dims(horizontalDirection, axis=1) + deltaVs.reshape((1, -1, 1)) * np.expand_dims(verticalDirection, axis=1)
windowIndices = np.expand_dims(uv, 1) - deltas
windowIndices = (np.minimum(np.maximum(np.round(windowIndices[:, :, 1]), 0), height - 1) * width + np.minimum(np.maximum(np.round(windowIndices[:, :, 0]), 0), width - 1)).astype(np.int32)
dominantLineMap = []
for pixels in windowIndices:
gradientSums = colorDiffs[pixels].sum(0)
dominantLineMap.append(gradientSums[1] / max(gradientSums[0], 1e-4))
continue
dominantLineMaps.append(np.array(dominantLineMap).reshape((height, width)))
continue
dominantLineMaps = np.stack(dominantLineMaps, axis=2)
if 'dominantLineThreshold' in parameters:
dominantLineThreshold = parameters['dominantLineThreshold']
else:
dominantLineThreshold = 3
pass
smoothnessWeightMask = dominantLineMaps.max(2) > dominantLineThreshold
planesD = np.linalg.norm(planes, axis=1, keepdims=True)
planeNormals = planes / np.maximum(planesD, 1e-4)
if 'distanceCostThreshold' in parameters:
distanceCostThreshold = parameters['distanceCostThreshold']
else:
distanceCostThreshold = 0.05
pass
distanceCost = np.abs(np.tensordot(points, planeNormals, axes=([1, 1])) - np.reshape(planesD, [1, -1])) / distanceCostThreshold
normalCost = 0
normalCostThreshold = 1 - np.cos(np.deg2rad(30))
normalCost = (1 - np.abs(np.tensordot(normals, planeNormals, axes=([1, 1])))) / normalCostThreshold
unaryCost = distanceCost + normalCost
unaryCost *= np.expand_dims(validMask.astype(np.float32), -1)
unaries = unaryCost.reshape((width * height, -1))
if False:
cv2.imwrite('test/dominant_normal.png', drawMaskImage(dominantNormalImage))
if imageIndex >= 0:
cv2.imwrite('test/' + str(imageIndex) + '_dominant_lines.png', drawMaskImage(dominantLineMaps / dominantLineThreshold))
else:
cv2.imwrite('test/dominant_lines.png', drawMaskImage(dominantLineMaps / dominantLineThreshold))
pass
cv2.imwrite('test/dominant_lines_mask.png', drawMaskImage(smoothnessWeightMask))
cv2.imwrite('test/distance_cost.png', drawSegmentationImage(-distanceCost.reshape((height, width, -1)), unaryCost.shape[-1] - 1))
cv2.imwrite('test/normal_cost.png', drawSegmentationImage(-normalCost.reshape((height, width, -1)), unaryCost.shape[-1] - 1))
cv2.imwrite('test/unary_cost.png', drawSegmentationImage(-unaryCost.reshape((height, width, -1)), blackIndex=unaryCost.shape[-1] - 1))
cv2.imwrite('test/segmentation.png', drawSegmentationImage(-unaries.reshape((height, width, -1)), blackIndex=unaries.shape[-1]))
pass
if 'numProposals' in parameters:
numProposals = parameters['numProposals']
else:
numProposals = 3
pass
numProposals = min(numProposals, unaries.shape[-1] - 1)
proposals = np.argpartition(unaries, numProposals)[:, :numProposals]
proposals[np.logical_not(validMask)] = 0
unaries = -readProposalInfo(unaries, proposals).reshape((-1, numProposals))
nodes = np.arange(height * width).reshape((height, width))
deltas = [(0, 1), (1, 0)]
edges = []
edges_features = []
smoothnessWeights = 1 - 0.99 * smoothnessWeightMask.astype(np.float32)
for delta in deltas:
deltaX = delta[0]
deltaY = delta[1]
partial_nodes = nodes[max(-deltaY, 0):min(height - deltaY, height), max(-deltaX, 0):min(width - deltaX, width)].reshape(-1)
edges.append(np.stack([partial_nodes, partial_nodes + (deltaY * width + deltaX)], axis=1))
labelDiff = (np.expand_dims(proposals[partial_nodes], -1) != np.expand_dims(proposals[partial_nodes + (deltaY * width + deltaX)], 1)).astype(np.float32)
edges_features.append(labelDiff * smoothnessWeights.reshape((width * height, -1))[partial_nodes].reshape(-1, 1, 1))
continue
edges = np.concatenate(edges, axis=0)
edges_features = np.concatenate(edges_features, axis=0)
if 'smoothnessWeight' in parameters:
smoothnessWeight = parameters['smoothnessWeight']
else:
smoothnessWeight = 40
pass
print('start')
refined_segmentation = inference_ogm(unaries, -edges_features * smoothnessWeight, edges, return_energy=False, alg='trw')
print('done')
refined_segmentation = refined_segmentation.reshape([height, width, 1])
refined_segmentation = readProposalInfo(proposals, refined_segmentation)
planeSegmentation = refined_segmentation.reshape([height, width])
planeSegmentation[np.logical_not(validMask.reshape((height, width)))] = planes.shape[0]
cv2.imwrite('test/segmentation_refined.png', drawSegmentationImage(planeSegmentation))
return planes, planeSegmentation
def calcVanishingPoint(lines):
points = lines[:, :2]
normals = lines[:, 2:4] - lines[:, :2]
normals /= np.maximum(np.linalg.norm(normals, axis=-1, keepdims=True), 1e-4)
normals = np.stack([normals[:, 1], -normals[:, 0]], axis=1)
normalPointDot = (normals * points).sum(1)
if lines.shape[0] == 2:
VP = np.linalg.solve(normals, normalPointDot)
else:
VP = np.linalg.lstsq(normals, normalPointDot)[0]
pass
return VP
def calcVanishingPoints(allLines, numVPs):
distanceThreshold = np.sin(np.deg2rad(5))
lines = allLines.copy()
VPs = []
VPLines = []
for VPIndex in xrange(numVPs):
points = lines[:, :2]
lengths = np.linalg.norm(lines[:, 2:4] - lines[:, :2], axis=-1)
normals = lines[:, 2:4] - lines[:, :2]
normals /= np.maximum(np.linalg.norm(normals, axis=-1, keepdims=True), 1e-4)
normals = np.stack([normals[:, 1], -normals[:, 0]], axis=1)
maxNumInliers = 0
bestVP = np.zeros(2)
for _ in xrange(min(pow(lines.shape[0], 2), 100)):
sampledInds = np.random.choice(lines.shape[0], 2)
if sampledInds[0] == sampledInds[1]:
continue
sampledLines = lines[sampledInds]
try:
VP = calcVanishingPoint(sampledLines)
except:
continue
inliers = np.abs(((np.expand_dims(VP, 0) - points) * normals).sum(-1)) / np.linalg.norm(np.expand_dims(VP, 0) - points, axis=-1) < distanceThreshold
numInliers = lengths[inliers].sum()
if numInliers > maxNumInliers:
maxNumInliers = numInliers
bestVP = VP
bestVPInliers = inliers
pass
continue
if maxNumInliers > 0:
inlierLines = lines[bestVPInliers]
VP = calcVanishingPoint(inlierLines)
VPs.append(VP)
VPLines.append(inlierLines)
lines = lines[np.logical_not(bestVPInliers)]
pass
continue
VPs = np.stack(VPs, axis=0)
return VPs, VPLines, lines
def fitPlanesPiecewise(image, depth, normal, info, numOutputPlanes=20, imageIndex=1, parameters={}):
if 'meanshift' in parameters and parameters['meanshift'] > 0:
import sklearn.cluster
meanshift = sklearn.cluster.MeanShift(parameters['meanshift'])
pass
from pylsd import lsd
height = depth.shape[0]
width = depth.shape[1]
camera = getCameraFromInfo(info)
urange = (np.arange(width, dtype=np.float32) / (width) * (camera['width']) - camera['cx']) / camera['fx']
urange = urange.reshape(1, -1).repeat(height, 0)
vrange = (np.arange(height, dtype=np.float32) / (height) * (camera['height']) - camera['cy']) / camera['fy']
vrange = vrange.reshape(-1, 1).repeat(width, 1)
X = depth * urange
Y = depth
Z = -depth * vrange
normals = normal.reshape((-1, 3))
normals = normals / np.maximum(np.linalg.norm(normals, axis=-1, keepdims=True), 1e-4)
validMask = np.logical_and(np.linalg.norm(normals, axis=-1) > 1e-4, depth.reshape(-1) > 1e-4)
points = np.stack([X, Y, Z], axis=2).reshape(-1, 3)
valid_points = points[validMask]
lines = lsd(image.mean(2))
lineImage = image.copy()
for line in lines:
cv2.line(lineImage, (int(line[0]), int(line[1])), (int(line[2]), int(line[3])), (0, 0, 255), int(np.ceil(line[4] / 2)))
continue
cv2.imwrite('test/lines.png', lineImage)
numVPs = 3
VPs, VPLines, remainingLines = calcVanishingPoints(lines, numVPs=numVPs)
lineImage = image.copy()
for VPIndex, lines in enumerate(VPLines):
for line in lines:
cv2.line(lineImage, (int(line[0]), int(line[1])), (int(line[2]), int(line[3])), ((VPIndex == 0) * 255, (VPIndex == 1) * 255, (VPIndex == 2) * 255), int(np.ceil(line[4] / 2)))
continue
continue
cv2.imwrite('test/lines_vp.png', lineImage)
dominantNormals = np.stack([(VPs[:, 0] * info[16] / width - info[2]) / info[0], np.ones(numVPs), -(VPs[:, 1] * info[17] / height - info[6]) / info[5]], axis=1)
dominantNormals /= np.maximum(np.linalg.norm(dominantNormals, axis=1, keepdims=True), 1e-4)
dotThreshold = np.cos(np.deg2rad(20))
for normalIndex, crossNormals in enumerate([[1, 2], [2, 0], [0, 1]]):
normal = np.cross(dominantNormals[crossNormals[0]], dominantNormals[crossNormals[1]])
normal = normalize(normal)
if np.dot(normal, dominantNormals[normalIndex]) < dotThreshold:
dominantNormals = np.concatenate([dominantNormals, np.expand_dims(normal, 0)], axis=0)
pass
continue
print(VPs)
print(dominantNormals)
dominantNormalImage = np.abs(np.matmul(normal, dominantNormals.transpose()))
cv2.imwrite('test/dominant_normal.png', drawMaskImage(dominantNormalImage))
planeHypothesisAreaThreshold = width * height * 0.01
planes = []
vpPlaneIndices = []
if 'offsetGap' in parameters:
offsetGap = parameters['offsetGap']
else:
offsetGap = 0.1
pass
planeIndexOffset = 0
for dominantNormal in dominantNormals:
if np.linalg.norm(dominantNormal) < 1e-4:
continue
offsets = np.tensordot(valid_points, dominantNormal, axes=([1], [0]))
if 'meanshift' in parameters and parameters['meanshift'] > 0:
sampleInds = np.arange(offsets.shape[0])
np.random.shuffle(sampleInds)
meanshift.fit(np.expand_dims(offsets[sampleInds[:int(offsets.shape[0] * 0.02)]], -1))
for offset in meanshift.cluster_centers_:
planes.append(dominantNormal * offset)
continue
else:
offset = offsets.min()
maxOffset = offsets.max()
while offset < maxOffset:
planeMask = np.logical_and(offsets >= offset, offsets < offset + offsetGap)
segmentOffsets = offsets[np.logical_and(offsets >= offset, offsets < offset + offsetGap)]
if segmentOffsets.shape[0] < planeHypothesisAreaThreshold:
offset += offsetGap
continue
planeD = segmentOffsets.mean()
planes.append(dominantNormal * planeD)
offset = planeD + offsetGap
continue
pass
vpPlaneIndices.append(np.arange(planeIndexOffset, len(planes)))
planeIndexOffset = len(planes)
continue
if len(planes) == 0:
return np.array([]), np.zeros(segmentation.shape).astype(np.int32)
planes = np.array(planes)
planesD = np.linalg.norm(planes, axis=1, keepdims=True)
planeNormals = planes / np.maximum(planesD, 1e-4)
if 'distanceCostThreshold' in parameters:
distanceCostThreshold = parameters['distanceCostThreshold']
else:
distanceCostThreshold = 0.05
pass
distanceCost = np.abs(np.tensordot(points, planeNormals, axes=([1, 1])) - np.reshape(planesD, [1, -1])) / distanceCostThreshold
normalCostThreshold = 1 - np.cos(np.deg2rad(30))
normalCost = (1 - np.abs(np.tensordot(normals, planeNormals, axes=([1, 1])))) / normalCostThreshold
if 'normalWeight' in parameters:
normalWeight = parameters['normalWeight']
else:
normalWeight = 1
pass
unaryCost = distanceCost + normalCost * normalWeight
unaryCost *= np.expand_dims(validMask.astype(np.float32), -1)
unaries = unaryCost.reshape((width * height, -1))
print('number of planes ', planes.shape[0])
cv2.imwrite('test/distance_cost.png', drawSegmentationImage(-distanceCost.reshape((height, width, -1)), unaryCost.shape[-1] - 1))
cv2.imwrite('test/normal_cost.png', drawSegmentationImage(-normalCost.reshape((height, width, -1)), unaryCost.shape[-1] - 1))
cv2.imwrite('test/unary_cost.png', drawSegmentationImage(-unaryCost.reshape((height, width, -1)), blackIndex=unaryCost.shape[-1] - 1))
cv2.imwrite('test/segmentation.png', drawSegmentationImage(-unaries.reshape((height, width, -1)), blackIndex=unaries.shape[-1]))
if 'numProposals' in parameters:
numProposals = parameters['numProposals']
else:
numProposals = 3
pass
numProposals = min(numProposals, unaries.shape[-1] - 1)
proposals = np.argpartition(unaries, numProposals)[:, :numProposals]
unaries = -readProposalInfo(unaries, proposals).reshape((-1, numProposals))
nodes = np.arange(height * width).reshape((height, width))
deltas = [(0, 1), (1, 0)]
edges = []
edges_features = []
for delta in deltas:
deltaX = delta[0]
deltaY = delta[1]
partial_nodes = nodes[max(-deltaY, 0):min(height - deltaY, height), max(-deltaX, 0):min(width - deltaX, width)].reshape(-1)
edges.append(np.stack([partial_nodes, partial_nodes + (deltaY * width + deltaX)], axis=1))
labelDiff = (np.expand_dims(proposals[partial_nodes], -1) != np.expand_dims(proposals[partial_nodes + (deltaY * width + deltaX)], 1)).astype(np.float32)
edges_features.append(labelDiff)
continue
edges = np.concatenate(edges, axis=0)
edges_features = np.concatenate(edges_features, axis=0)
if 'edgeWeights' in parameters:
edgeWeights = parameters['edgeWeights']
else:
edgeWeights = [0.5, 0.6, 0.6]
pass
lineSets = np.zeros((height * width, 3))
creaseLines = np.expand_dims(np.stack([planeNormals[:, 0] / info[0], planeNormals[:, 1], -planeNormals[:, 2] / info[5]], axis=1), 1) * planesD.reshape((1, -1, 1))
creaseLines = creaseLines - np.transpose(creaseLines, [1, 0, 2])
for planeIndex_1 in xrange(planes.shape[0]):
for planeIndex_2 in xrange(planeIndex_1 + 1, planes.shape[0]):
creaseLine = creaseLines[planeIndex_1, planeIndex_2]
if abs(creaseLine[0]) > abs(creaseLine[2]):
vs = np.arange(height)
us = -(creaseLine[1] + (vs - info[6]) * creaseLine[2]) / creaseLine[0] + info[2]
minUs = np.floor(us).astype(np.int32)
maxUs = minUs + 1
validIndicesMask = np.logical_and(minUs >= 0, maxUs < width)
if validIndicesMask.sum() == 0:
continue
vs = vs[validIndicesMask]
minUs = minUs[validIndicesMask]
maxUs = maxUs[validIndicesMask]
edgeIndices = (height - 1) * width + (vs * (width - 1) + minUs)
for index, edgeIndex in enumerate(edgeIndices):
pixel_1 = vs[index] * width + minUs[index]
pixel_2 = vs[index] * width + maxUs[index]
proposals_1 = proposals[pixel_1]
proposals_2 = proposals[pixel_2]
if planeIndex_1 in proposals_1 and planeIndex_2 in proposals_2:
proposalIndex_1 = np.where(proposals_1 == planeIndex_1)[0][0]
proposalIndex_2 = np.where(proposals_2 == planeIndex_2)[0][0]
edges_features[edgeIndex, proposalIndex_1, proposalIndex_2] *= edgeWeights[0]
pass
if planeIndex_2 in proposals_1 and planeIndex_1 in proposals_2:
proposalIndex_1 = np.where(proposals_1 == planeIndex_2)[0][0]
proposalIndex_2 = np.where(proposals_2 == planeIndex_1)[0][0]
edges_features[edgeIndex, proposalIndex_1, proposalIndex_2] *= edgeWeights[0]
pass
continue
lineSets[vs * width + minUs, 0] = 1
lineSets[vs * width + maxUs, 0] = 1
else:
us = np.arange(width)
vs = -(creaseLine[1] + (us - info[2]) * creaseLine[0]) / creaseLine[2] + info[6]
minVs = np.floor(vs).astype(np.int32)
maxVs = minVs + 1
validIndicesMask = np.logical_and(minVs >= 0, maxVs < height)
if validIndicesMask.sum() == 0:
continue
us = us[validIndicesMask]
minVs = minVs[validIndicesMask]
maxVs = maxVs[validIndicesMask]
edgeIndices = (minVs * width + us)
for index, edgeIndex in enumerate(edgeIndices):
pixel_1 = minVs[index] * width + us[index]
pixel_2 = maxVs[index] * width + us[index]
proposals_1 = proposals[pixel_1]
proposals_2 = proposals[pixel_2]
if planeIndex_1 in proposals_1 and planeIndex_2 in proposals_2:
proposalIndex_1 = np.where(proposals_1 == planeIndex_1)[0][0]
proposalIndex_2 = np.where(proposals_2 == planeIndex_2)[0][0]
edges_features[edgeIndex, proposalIndex_1, proposalIndex_2] *= edgeWeights[0]
pass
if planeIndex_2 in proposals_1 and planeIndex_1 in proposals_2:
proposalIndex_1 = np.where(proposals_1 == planeIndex_2)[0][0]
proposalIndex_2 = np.where(proposals_2 == planeIndex_1)[0][0]
edges_features[edgeIndex, proposalIndex_1, proposalIndex_2] *= edgeWeights[0]
pass
continue
lineSets[minVs * width + us, 0] = 1
lineSets[maxVs * width + us, 0] = 1
pass
continue
continue
planeDepths = calcPlaneDepths(planes, width, height, np.array([info[0], info[5], info[2], info[6], info[16], info[17], 0, 0, 0, 0])).reshape((height * width, -1))
planeDepths = readProposalInfo(planeDepths, proposals).reshape((-1, numProposals))
planeHorizontalVPMask = np.ones((planes.shape[0], 3), dtype=np.bool)
for VPIndex, planeIndices in enumerate(vpPlaneIndices):
planeHorizontalVPMask[planeIndices] = False
continue
for VPIndex, lines in enumerate(VPLines):
lp = lines[:, :2]
ln = lines[:, 2:4] - lines[:, :2]
ln /= np.maximum(np.linalg.norm(ln, axis=-1, keepdims=True), 1e-4)
ln = np.stack([ln[:, 1], -ln[:, 0]], axis=1)
lnp = (ln * lp).sum(1, keepdims=True)
occlusionLines = np.concatenate([ln, lnp], axis=1)
for occlusionLine in occlusionLines:
if abs(occlusionLine[0]) > abs(occlusionLine[1]):
vs = np.arange(height)
us = (occlusionLine[2] - vs * occlusionLine[1]) / occlusionLine[0]
minUs = np.floor(us).astype(np.int32)
maxUs = minUs + 1
validIndicesMask = np.logical_and(minUs >= 0, maxUs < width)
vs = vs[validIndicesMask]
minUs = minUs[validIndicesMask]
maxUs = maxUs[validIndicesMask]
edgeIndices = (height - 1) * width + (vs * (width - 1) + minUs)
for index, edgeIndex in enumerate(edgeIndices):
pixel_1 = vs[index] * width + minUs[index]
pixel_2 = vs[index] * width + maxUs[index]
proposals_1 = proposals[pixel_1]
proposals_2 = proposals[pixel_2]
for proposalIndex_1, planeIndex_1 in enumerate(proposals_1):
if not planeHorizontalVPMask[planeIndex_1][VPIndex]:
continue
planeDepth_1 = planeDepths[pixel_1][proposalIndex_1]
for proposalIndex_2, planeIndex_2 in enumerate(proposals_2):
if planeDepths[pixel_2][proposalIndex_2] > planeDepth_1:
edges_features[edgeIndex, proposalIndex_1, proposalIndex_2] *= edgeWeights[1]
pass
continue
continue
continue
lineSets[vs * width + minUs, 1] = 1
lineSets[vs * width + maxUs, 1] = 1
else:
us = np.arange(width)
vs = (occlusionLine[2] - us * occlusionLine[0]) / occlusionLine[1]
minVs = np.floor(vs).astype(np.int32)
maxVs = minVs + 1
validIndicesMask = np.logical_and(minVs >= 0, maxVs < height)
us = us[validIndicesMask]
minVs = minVs[validIndicesMask]
maxVs = maxVs[validIndicesMask]
edgeIndices = (minVs * width + us)
for index, edgeIndex in enumerate(edgeIndices):
pixel_1 = minVs[index] * width + us[index]
pixel_2 = maxVs[index] * width + us[index]
proposals_1 = proposals[pixel_1]
proposals_2 = proposals[pixel_2]
for proposalIndex_1, planeIndex_1 in enumerate(proposals_1):
if not planeHorizontalVPMask[planeIndex_1][VPIndex]:
continue
planeDepth_1 = planeDepths[pixel_1][proposalIndex_1]
for proposalIndex_2, planeIndex_2 in enumerate(proposals_2):
if planeDepths[pixel_2][proposalIndex_2] > planeDepth_1:
edges_features[edgeIndex, proposalIndex_1, proposalIndex_2] *= edgeWeights[1]
pass
continue
continue
continue
lineSets[minVs * width + us, 1] = 1
lineSets[maxVs * width + us, 1] = 1
pass
continue
continue
for line in remainingLines:
if abs(line[3] - line[1]) > abs(line[2] - line[0]):
if line[3] < line[1]:
line = np.array([line[2], line[3], line[0], line[1]])
pass
vs = np.arange(line[1], line[3] + 1, dtype=np.int32)
us = line[0] + (vs - line[1]) / (line[3] - line[1]) * (line[2] - line[0])
minUs = np.floor(us).astype(np.int32)
maxUs = minUs + 1
validIndicesMask = np.logical_and(minUs >= 0, maxUs < width)
vs = vs[validIndicesMask]
minUs = minUs[validIndicesMask]
maxUs = maxUs[validIndicesMask]
edgeIndices = (height - 1) * width + (vs * (width - 1) + minUs)
for edgeIndex in edgeIndices:
edges_features[edgeIndex] *= edgeWeights[2]
continue
lineSets[(vs * width + minUs), 2] = 1
lineSets[(vs * width + maxUs), 2] = 1
else:
if line[2] < line[0]:
line = np.array([line[2], line[3], line[0], line[1]])
pass
us = np.arange(line[0], line[2] + 1, dtype=np.int32)
vs = line[1] + (us - line[0]) / (line[2] - line[0]) * (line[3] - line[1])
minVs = np.floor(vs).astype(np.int32)
maxVs = minVs + 1
validIndicesMask = np.logical_and(minVs >= 0, maxVs < height)
us = us[validIndicesMask]
minVs = minVs[validIndicesMask]
maxVs = maxVs[validIndicesMask]
edgeIndices = (minVs * width + us)
for edgeIndex in edgeIndices:
edges_features[edgeIndex] *= edgeWeights[2]
continue