import numpy as np
from ..adjacency import mask_adjacency_array, reindex_adjacency_array
from .base import TriMesh
[docs]class ColouredTriMesh(TriMesh):
r"""
Combines a :map:`TriMesh` with a colour per vertex.
Parameters
----------
points : ``(n_points, n_dims)`` `ndarray`
The array representing the points.
trilist : ``(M, 3)`` `ndarray` or ``None``, optional
The triangle list. If `None`, a Delaunay triangulation of
the points will be used instead.
colours : ``(N, 3)`` `ndarray`, optional
The floating point RGB colour per vertex. If not given, grey will be
assigned to each vertex.
copy: `bool`, optional
If ``False``, the points, trilist and colours will not be copied on
assignment.
In general this should only be used if you know what you are doing.
Raises
------
ValueError
If the number of colour values does not match the number of vertices.
"""
def __init__(self, points, trilist=None, colours=None, copy=True):
TriMesh.__init__(self, points, trilist=trilist, copy=copy)
# Handle the settings of colours, either be provided a default grey
# set of colours, or copy the given array if necessary
if colours is None:
# default to grey
colours_handle = np.ones_like(points, dtype=np.float) * 0.5
elif not copy:
colours_handle = colours
else:
colours_handle = colours.copy()
if points.shape[0] != colours_handle.shape[0]:
raise ValueError("Must provide a colour per-vertex.")
self.colours = colours_handle
[docs] @classmethod
def init_2d_grid(cls, shape, spacing=None, colours=None):
r"""
Create a ColouredTriMesh that exists on a regular 2D grid. The first
dimension is the number of rows in the grid and the second dimension
of the shape is the number of columns. ``spacing`` optionally allows
the definition of the distance between points (uniform over points).
The spacing may be different for rows and columns.
The triangulation will be right-handed and the diagonal will go from
the top left to the bottom right of a square on the grid.
Parameters
----------
shape : `tuple` of 2 `int`
The size of the grid to create, this defines the number of points
across each dimension in the grid. The first element is the number
of rows and the second is the number of columns.
spacing : `int` or `tuple` of 2 `int`, optional
The spacing between points. If a single `int` is provided, this
is applied uniformly across each dimension. If a `tuple` is
provided, the spacing is applied non-uniformly as defined e.g.
``(2, 3)`` gives a spacing of 2 for the rows and 3 for the
columns.
colours : ``(N, 3)`` `ndarray`, optional
The floating point RGB colour per vertex. If not given, grey will be
assigned to each vertex.
Returns
-------
trimesh : :map:`TriMesh`
A TriMesh arranged in a grid.
"""
pc = TriMesh.init_2d_grid(shape, spacing=spacing)
points = pc.points
trilist = pc.trilist
# Ensure that the colours are copied
if colours is not None:
colours = colours.copy()
return ColouredTriMesh(points, trilist=trilist, colours=colours, copy=False)
[docs] @classmethod
def init_from_depth_image(cls, depth_image, colours=None):
r"""
Return a 3D textured triangular mesh from the given depth image. The
depth image is assumed to represent height/depth values and the XY
coordinates are assumed to unit spaced and represent image coordinates.
This is particularly useful for visualising depth values that have been
recovered from images.
The optionally passed texture will be textured mapped onto the planar
surface using the correct texture coordinates for an image of the
same shape as ``depth_image``.
Parameters
----------
depth_image : :map:`Image` or subclass
A single channel image that contains depth values - as commonly
returned by RGBD cameras, for example.
colours : ``(N, 3)`` `ndarray`, optional
The floating point RGB colour per vertex. If not given, grey will be
assigned to each vertex.
Returns
-------
depth_cloud : ``type(cls)``
A new 3D TriMesh with unit XY coordinates and the given depth
values as Z coordinates. The trilist is constructed as in
:meth:`init_2d_grid`.
"""
from menpo.image import MaskedImage
new_tmesh = cls.init_2d_grid(depth_image.shape, colours=colours)
if isinstance(depth_image, MaskedImage):
new_tmesh = new_tmesh.from_mask(depth_image.mask.as_vector())
return cls(
np.hstack([new_tmesh.points, depth_image.as_vector(keep_channels=True).T]),
colours=new_tmesh.colours,
trilist=new_tmesh.trilist,
copy=False,
)
@property
def n_channels(self):
r"""
The number of channels of colour used (e.g. 3 for RGB).
:type: `int`
"""
return self.colours.shape[1]
[docs] def from_mask(self, mask):
"""
A 1D boolean array with the same number of elements as the number of
points in the ColouredTriMesh. This is then broadcast across the
dimensions of the mesh and returns a new mesh containing only those
points that were ``True`` in the mask.
Parameters
----------
mask : ``(n_points,)`` `ndarray`
1D array of booleans
Returns
-------
mesh : :map:`ColouredTriMesh`
A new mesh that has been masked.
"""
if mask.shape[0] != self.n_points:
raise ValueError(
"Mask must be a 1D boolean array of the same "
"number of entries as points in this "
"ColouredTriMesh."
)
ctm = self.copy()
if np.all(mask): # Fast path for all true
return ctm
else:
# Recalculate the mask to remove isolated vertices
isolated_mask = self._isolated_mask(mask)
# Recreate the adjacency array with the updated mask
masked_adj = mask_adjacency_array(isolated_mask, self.trilist)
ctm.trilist = reindex_adjacency_array(masked_adj)
ctm.points = ctm.points[isolated_mask, :]
ctm.colours = ctm.colours[isolated_mask, :]
return ctm
[docs] def clip_texture(self, range=(0.0, 1.0)):
"""
Method that returns a copy of the object with the coloured values
clipped in range ``(0, 1)``.
Parameters
----------
range : ``(float, float)``, optional
The clipping range.
Returns
-------
self : :map:`ColouredTriMesh`
A copy of self with its texture clipped.
"""
instance = self.copy()
instance.colours = np.clip(self.colours, *range)
return instance
[docs] def rescale_texture(self, minimum, maximum, per_channel=True):
r"""
A copy of this mesh with colours linearly rescaled to fit a range.
Parameters
----------
minimum: `float`
The minimal value of the rescaled colours
maximum: `float`
The maximal value of the rescaled colours
per_channel: `boolean`, optional
If ``True``, each channel will be rescaled independently. If
``False``, the scaling will be over all channels.
Returns
-------
coloured_mesh : ``type(self)``
A copy of this mesh with colours linearly rescaled to fit in the
range provided.
"""
instance = self.copy()
colours = instance.colours
if per_channel:
min_, max_ = colours.min(axis=0), colours.max(axis=0)
else:
min_, max_ = colours.min(), colours.max()
sf = (maximum - minimum) / (max_ - min_)
instance.colours = ((colours - min_) * sf) + minimum
return instance
def _view_3d(
self,
figure_id=None,
new_figure=True,
render_texture=True,
mesh_type="surface",
ambient_light=0.0,
specular_light=0.0,
colour="r",
line_width=2,
normals=None,
normals_colour="k",
normals_line_width=2,
normals_marker_style="2darrow",
normals_marker_resolution=8,
normals_marker_size=None,
step=None,
alpha=1.0,
):
r"""
Visualize the Coloured TriMesh in 3D.
Parameters
----------
figure_id : `object`, optional
The id of the figure to be used.
new_figure : `bool`, optional
If ``True``, a new figure is created.
render_texture : `bool`, optional
If ``True``, then the texture is rendered. If ``False``, then only
the TriMesh is rendered with the specified `colour`.
mesh_type : ``{'surface', 'wireframe'}``, optional
The representation type to be used for the mesh.
ambient_light : `float`, optional
The ambient light intensity. It must be in range ``[0., 1.]``.
specular_light : `float`, optional
The specular light intensity. It must be in range ``[0., 1.]``.
colour : See Below, optional
The colour of the mesh if `render_texture` is ``False``.
Example options ::
{r, g, b, c, m, k, w}
or
(3, ) ndarray
line_width : `float`, optional
The width of the lines, if there are any.
normals : ``(n_points, 3)`` `ndarray` or ``None``, optional
If ``None``, then the normals will not be rendered. If `ndarray`,
then the provided normals will be rendered as well. Note that a
normal must be provided for each point in the TriMesh.
normals_colour : See Below, optional
The colour of the normals.
Example options ::
{r, g, b, c, m, k, w}
or
(3, ) ndarray
normals_line_width : `float`, optional
The width of the lines of the normals. It only applies if `normals`
is not ``None``.
normals_marker_style : `str`, optional
The style of the markers of the normals. It only applies if `normals`
is not ``None``.
Example options ::
{2darrow, 2dcircle, 2dcross, 2ddash, 2ddiamond, 2dhooked_arrow,
2dsquare, 2dthick_arrow, 2dthick_cross, 2dtriangle, 2dvertex,
arrow, axes, cone, cube, cylinder, point, sphere}
normals_marker_resolution : `int`, optional
The resolution of the markers of the normals. For spheres, for
instance, this is the number of divisions along theta and phi. It
only applies if `normals` is not ``None``.
normals_marker_size : `float` or ``None``, optional
The size of the markers. This size can be seen as a scale factor
applied to the size markers, which is by default calculated from
the inter-marker spacing. If ``None``, then an optimal marker size
value will be set automatically. It only applies if `normals` is not
``None``.
step : `int` or ``None``, optional
If `int`, then one every `step` normals will be rendered.
If ``None``, then all vertexes will be rendered. It only applies if
`normals` is not ``None``.
alpha : `float`, optional
Defines the transparency (opacity) of the object.
Returns
-------
renderer : `menpo3d.visualize.ColouredTriMeshViewer3D`
The Menpo3D rendering object.
"""
if render_texture:
try:
from menpo3d.visualize import ColouredTriMeshViewer3d
renderer = ColouredTriMeshViewer3d(
figure_id, new_figure, self.points, self.trilist, self.colours
)
renderer.render(
mesh_type=mesh_type,
ambient_light=ambient_light,
specular_light=specular_light,
normals=normals,
normals_colour=normals_colour,
normals_line_width=normals_line_width,
normals_marker_style=normals_marker_style,
normals_marker_resolution=normals_marker_resolution,
normals_marker_size=normals_marker_size,
step=step,
alpha=alpha,
)
return renderer
except ImportError as e:
from menpo.visualize import Menpo3dMissingError
raise Menpo3dMissingError(e)
else:
try:
from menpo3d.visualize import TriMeshViewer3d
renderer = TriMeshViewer3d(
figure_id, new_figure, self.points, self.trilist
)
renderer.render(
mesh_type=mesh_type,
line_width=line_width,
colour=colour,
normals=normals,
normals_colour=normals_colour,
normals_line_width=normals_line_width,
normals_marker_style=normals_marker_style,
normals_marker_resolution=normals_marker_resolution,
normals_marker_size=normals_marker_size,
step=step,
alpha=alpha,
)
return renderer
except ImportError as e:
from menpo.visualize import Menpo3dMissingError
raise Menpo3dMissingError(e)
[docs] def _view_2d(
self,
figure_id=None,
new_figure=False,
image_view=True,
render_lines=True,
line_colour="r",
line_style="-",
line_width=1.0,
render_markers=True,
marker_style="o",
marker_size=5,
marker_face_colour="k",
marker_edge_colour="k",
marker_edge_width=1.0,
render_numbering=False,
numbers_horizontal_align="center",
numbers_vertical_align="bottom",
numbers_font_name="sans-serif",
numbers_font_size=10,
numbers_font_style="normal",
numbers_font_weight="normal",
numbers_font_colour="k",
render_axes=True,
axes_font_name="sans-serif",
axes_font_size=10,
axes_font_style="normal",
axes_font_weight="normal",
axes_x_limits=None,
axes_y_limits=None,
axes_x_ticks=None,
axes_y_ticks=None,
figure_size=(7, 7),
label=None,
**kwargs,
):
r"""
Visualization of the TriMesh in 2D. Currently, explicit coloured TriMesh
viewing is not supported, and therefore viewing falls back to uncoloured
2D TriMesh viewing.
Returns
-------
figure_id : `object`, optional
The id of the figure to be used.
new_figure : `bool`, optional
If ``True``, a new figure is created.
image_view : `bool`, optional
If ``True`` the ColouredTriMesh will be viewed as if it is in the
image coordinate system.
render_lines : `bool`, optional
If ``True``, the edges will be rendered.
line_colour : See Below, optional
The colour of the lines.
Example options::
{r, g, b, c, m, k, w}
or
(3, ) ndarray
line_style : ``{-, --, -., :}``, optional
The style of the lines.
line_width : `float`, optional
The width of the lines.
render_markers : `bool`, optional
If ``True``, the markers will be rendered.
marker_style : See Below, optional
The style of the markers. Example options ::
{., ,, o, v, ^, <, >, +, x, D, d, s, p, *, h, H, 1, 2, 3, 4, 8}
marker_size : `int`, optional
The size of the markers in points.
marker_face_colour : See Below, optional
The face (filling) colour of the markers.
Example options ::
{r, g, b, c, m, k, w}
or
(3, ) ndarray
marker_edge_colour : See Below, optional
The edge colour of the markers.
Example options ::
{r, g, b, c, m, k, w}
or
(3, ) ndarray
marker_edge_width : `float`, optional
The width of the markers' edge.
render_numbering : `bool`, optional
If ``True``, the landmarks will be numbered.
numbers_horizontal_align : ``{center, right, left}``, optional
The horizontal alignment of the numbers' texts.
numbers_vertical_align : ``{center, top, bottom, baseline}``, optional
The vertical alignment of the numbers' texts.
numbers_font_name : See Below, optional
The font of the numbers. Example options ::
{serif, sans-serif, cursive, fantasy, monospace}
numbers_font_size : `int`, optional
The font size of the numbers.
numbers_font_style : ``{normal, italic, oblique}``, optional
The font style of the numbers.
numbers_font_weight : See Below, optional
The font weight of the numbers.
Example options ::
{ultralight, light, normal, regular, book, medium, roman,
semibold, demibold, demi, bold, heavy, extra bold, black}
numbers_font_colour : See Below, optional
The font colour of the numbers.
Example options ::
{r, g, b, c, m, k, w}
or
(3, ) ndarray
render_axes : `bool`, optional
If ``True``, the axes will be rendered.
axes_font_name : See Below, optional
The font of the axes.
Example options ::
{serif, sans-serif, cursive, fantasy, monospace}
axes_font_size : `int`, optional
The font size of the axes.
axes_font_style : {``normal``, ``italic``, ``oblique``}, optional
The font style of the axes.
axes_font_weight : See Below, optional
The font weight of the axes.
Example options ::
{ultralight, light, normal, regular, book, medium, roman,
semibold, demibold, demi, bold, heavy, extra bold, black}
axes_x_limits : `float` or (`float`, `float`) or ``None``, optional
The limits of the x axis. If `float`, then it sets padding on the
right and left of the TriMesh as a percentage of the TriMesh's
width. If `tuple` or `list`, then it defines the axis limits. If
``None``, then the limits are set automatically.
axes_y_limits : (`float`, `float`) `tuple` or ``None``, optional
The limits of the y axis. If `float`, then it sets padding on the
top and bottom of the TriMesh as a percentage of the TriMesh's
height. If `tuple` or `list`, then it defines the axis limits. If
``None``, then the limits are set automatically.
axes_x_ticks : `list` or `tuple` or ``None``, optional
The ticks of the x axis.
axes_y_ticks : `list` or `tuple` or ``None``, optional
The ticks of the y axis.
figure_size : (`float`, `float`) `tuple` or ``None``, optional
The size of the figure in inches.
label : `str`, optional
The name entry in case of a legend.
Returns
-------
viewer : :map:`PointGraphViewer2d`
The viewer object.
Raises
------
warning
2D Viewing of Coloured TriMeshes is not supported, automatically
falls back to 2D :map:`TriMesh` viewing.
"""
import warnings
warnings.warn(
Warning(
"2D Viewing of Coloured TriMeshes is not "
"supported, falling back to TriMesh viewing."
)
)
return TriMesh._view_2d(
self,
figure_id=figure_id,
new_figure=new_figure,
image_view=image_view,
render_lines=render_lines,
line_colour=line_colour,
line_style=line_style,
line_width=line_width,
render_markers=render_markers,
marker_style=marker_style,
marker_size=marker_size,
marker_face_colour=marker_face_colour,
marker_edge_colour=marker_edge_colour,
marker_edge_width=marker_edge_width,
render_numbering=render_numbering,
numbers_horizontal_align=numbers_horizontal_align,
numbers_vertical_align=numbers_vertical_align,
numbers_font_name=numbers_font_name,
numbers_font_size=numbers_font_size,
numbers_font_style=numbers_font_style,
numbers_font_weight=numbers_font_weight,
numbers_font_colour=numbers_font_colour,
render_axes=render_axes,
axes_font_name=axes_font_name,
axes_font_size=axes_font_size,
axes_font_style=axes_font_style,
axes_font_weight=axes_font_weight,
axes_x_limits=axes_x_limits,
axes_y_limits=axes_y_limits,
axes_x_ticks=axes_x_ticks,
axes_y_ticks=axes_y_ticks,
figure_size=figure_size,
label=label,
)