import numpy as np
from menpo.shape import PointCloud
from menpo.transform import tcoords_to_image_coords
from ..adjacency import mask_adjacency_array, reindex_adjacency_array
from .base import TriMesh, grid_tcoords
[docs]class TexturedTriMesh(TriMesh):
r"""
Combines a :map:`TriMesh` with a texture. Also encapsulates the texture
coordinates required to render the texture on the mesh.
Parameters
----------
points : ``(n_points, n_dims)`` `ndarray`
The array representing the points.
tcoords : ``(N, 2)`` `ndarray`
The texture coordinates for the mesh.
texture : :map:`Image`
The texture for the mesh.
trilist : ``(M, 3)`` `ndarray` or ``None``, optional
The triangle list. If ``None``, a Delaunay triangulation of
the points will be used instead.
copy: `bool`, optional
If ``False``, the points, trilist and texture will not be copied on
assignment.
In general this should only be used if you know what you are doing.
"""
def __init__(self, points, tcoords, texture, trilist=None, copy=True):
super(TexturedTriMesh, self).__init__(points, trilist=trilist, copy=copy)
self.tcoords = PointCloud(tcoords, copy=copy)
if not copy:
self.texture = texture
else:
self.texture = texture.copy()
@property
def n_channels(self):
r"""
The number of channels of colour used (e.g. 3 for RGB).
:type: `int`
"""
return self.texture.n_channels
[docs] @classmethod
def init_2d_grid(cls, shape, spacing=None, tcoords=None, texture=None):
r"""
Create a TexturedTriMesh 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.
If no texture is passed a blank (black) texture is attached with
correct texture coordinates for texture mapping an image of the same
size as ``shape``.
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.
tcoords : ``(N, 2)`` `ndarray`, optional
The texture coordinates for the mesh.
texture : :map:`Image`, optional
The texture for the mesh.
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 tcoords and texture are copied
if tcoords is not None:
tcoords = tcoords.copy()
else:
tcoords = grid_tcoords(shape)
if texture is not None:
texture = texture.copy()
else:
from menpo.image import Image
# Default texture is all black
texture = Image.init_blank(shape)
return TexturedTriMesh(points, tcoords, texture, trilist=trilist, copy=False)
[docs] @classmethod
def init_from_depth_image(cls, depth_image, tcoords=None, texture=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.
tcoords : ``(N, 2)`` `ndarray`, optional
The texture coordinates for the mesh.
texture : :map:`Image`, optional
The texture for the mesh.
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, tcoords=tcoords, texture=texture
)
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]),
new_tmesh.tcoords.points,
new_tmesh.texture,
trilist=new_tmesh.trilist,
copy=False,
)
[docs] def tcoords_pixel_scaled(self):
r"""
Returns a :map:`PointCloud` that is modified to be suitable for directly
indexing into the pixels of the texture (e.g. for manual mapping
operations). The resulting tcoords behave just like image landmarks
do.
The operations that are performed are:
- Flipping the origin from bottom-left to top-left
- Scaling the tcoords by the image shape (denormalising them)
- Permuting the axis so that
Returns
-------
tcoords_scaled : :map:`PointCloud`
A copy of the tcoords that behave like :map:`Image` landmarks
Examples
--------
Recovering pixel values for every texture coordinate:
>>> texture = texturedtrimesh.texture
>>> tc_ps = texturedtrimesh.tcoords_pixel_scaled()
>>> pixel_values_at_tcs = texture.sample(tc_ps)
"""
return tcoords_to_image_coords(self.texture.shape).apply(self.tcoords)
[docs] def from_vector(self, flattened):
r"""
Builds a new :class:`TexturedTriMesh` given the `flattened` 1D vector.
Note that the trilist, texture, and tcoords will be drawn from self.
Parameters
----------
flattened : ``(N,)`` `ndarray`
Vector representing a set of points.
Returns
--------
trimesh : :map:`TriMesh`
A new trimesh created from the vector with ``self`` trilist.
"""
return TexturedTriMesh(
flattened.reshape([-1, self.n_dims]),
self.tcoords.points,
self.texture,
trilist=self.trilist,
)
[docs] def from_mask(self, mask):
"""
A 1D boolean array with the same number of elements as the number of
points in the TexturedTriMesh. 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:`TexturedTriMesh`
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 "
"TexturedTriMesh."
)
ttm = self.copy()
if np.all(mask): # Fast path for all true
return ttm
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)
ttm.trilist = reindex_adjacency_array(masked_adj)
ttm.points = ttm.points[isolated_mask, :]
ttm.tcoords.points = ttm.tcoords.points[isolated_mask, :]
return ttm
[docs] def clip_texture(self, range=(0.0, 1.0)):
"""
Method that returns a copy of the object with the texture 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.texture.pixels = np.clip(self.texture.pixels, *range)
return instance
[docs] def rescale_texture(self, minimum, maximum, per_channel=True):
r"""
A copy of this mesh with texture 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
-------
textured_mesh : ``type(self)``
A copy of this mesh with texture linearly rescaled to fit in the
range provided.
"""
instance = self.copy()
instance.texture = instance.texture.rescale_pixels(
minimum, maximum, per_channel=per_channel
)
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 Textured 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.TexturedTriMeshViewer3D`
The Menpo3D rendering object.
"""
if render_texture:
try:
from menpo3d.visualize import TexturedTriMeshViewer3d
renderer = TexturedTriMeshViewer3d(
figure_id,
new_figure,
self.points,
self.trilist,
self.texture,
self.tcoords.points,
)
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 textured TriMesh
viewing is not supported, and therefore viewing falls back to untextured
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 TexturedTriMesh 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 Textured 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,
)
def __str__(self):
return "{}\ntexture_shape: {}, n_texture_channels: {}".format(
TriMesh.__str__(self), self.texture.shape, self.texture.n_channels
)