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"""
This code is an adaptation that uses Structured 3D for the code base.
Reference: https://github.com/bertjiazheng/Structured3D
"""
import numpy as np
import cv2
from shapely.geometry import Polygon
import random
def parse_floor_plan_polys(annos):
planes = []
for semantic in annos['semantics']:
for planeID in semantic['planeID']:
if annos['planes'][planeID]['type'] == 'floor':
planes.append({'planeID': planeID, 'type': semantic['type']})
if semantic['type'] == 'outwall':
outerwall_planes = semantic['planeID']
# extract hole vertices
lines_holes = []
for semantic in annos['semantics']:
if semantic['type'] in ['window', 'door']:
for planeID in semantic['planeID']:
lines_holes.extend(np.where(np.array(annos['planeLineMatrix'][planeID]))[0].tolist())
lines_holes = np.unique(lines_holes)
# junctions on the floor
junctions = np.array([junc['coordinate'] for junc in annos['junctions']])
junction_floor = np.where(np.isclose(junctions[:, -1], 0))[0]
# construct each polygon
polygons = []
for plane in planes:
lineIDs = np.where(np.array(annos['planeLineMatrix'][plane['planeID']]))[0].tolist()
junction_pairs = [np.where(np.array(annos['lineJunctionMatrix'][lineID]))[0].tolist() for lineID in lineIDs]
polygon = convert_lines_to_vertices(junction_pairs)
polygons.append([polygon[0], plane['type']])
outerwall_floor = []
for planeID in outerwall_planes:
lineIDs = np.where(np.array(annos['planeLineMatrix'][planeID]))[0].tolist()
lineIDs = np.setdiff1d(lineIDs, lines_holes)
junction_pairs = [np.where(np.array(annos['lineJunctionMatrix'][lineID]))[0].tolist() for lineID in lineIDs]
for start, end in junction_pairs:
if start in junction_floor and end in junction_floor:
outerwall_floor.append([start, end])
outerwall_polygon = convert_lines_to_vertices(outerwall_floor)
polygons.append([outerwall_polygon[0], 'outwall'])
return polygons
def convert_lines_to_vertices(lines):
"""
convert line representation to polygon vertices
"""
polygons = []
lines = np.array(lines)
polygon = None
while len(lines) != 0:
if polygon is None:
polygon = lines[0].tolist()
lines = np.delete(lines, 0, 0)
lineID, juncID = np.where(lines == polygon[-1])
vertex = lines[lineID[0], 1 - juncID[0]]
lines = np.delete(lines, lineID, 0)
if vertex in polygon:
polygons.append(polygon)
polygon = None
else:
polygon.append(vertex)
return polygons
def generate_floorplan(annos, polygons, height, width, ignore_types, include_types=None, fillpoly=True, constant_color=False, shuffle=False):
"""
plot floorplan
"""
floor_map = np.zeros((height, width))
junctions = np.array([junc['coordinate'][:2] for junc in annos['junctions']])
room_ind = 0
if shuffle:
room_ind = np.random.randint(0, 2)
polygons_list = []
for poly_ind, (polygon, poly_type) in enumerate(polygons):
if poly_type in ignore_types:
continue
if include_types is not None and poly_type not in include_types:
continue
polygon = junctions[np.array(polygon)].astype(np.int32)
poly_shapely = Polygon(polygon)
area = poly_shapely.area
# assert area > 10
if area < 100:
continue
polygons_list.append(polygon)
if shuffle:
random.shuffle(polygons_list)
for poly_ind, polygon in enumerate(polygons_list):
if shuffle:
room_ind += np.random.randint(1, 2)
else:
room_ind += 1
if fillpoly:
if constant_color:
clr = 1.
else:
clr = room_ind
cv2.fillPoly(floor_map, [polygon], color=clr)
else:
assert constant_color
cv2.polylines(floor_map, [polygon], isClosed=True, color=1., thickness=3)
return floor_map, polygons_list |