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#!/usr/bin/env python
import math
import re
from argaze.RegionOfInterest import ROI2DScene
import numpy
import cv2 as cv
import matplotlib.path as mpath
class ROI3DScene(list):
"""List of ROI3D dictionary.
```
{
'NAME': str,
'VERTICES': array of (x, y, z) tuples
}
```
"""
def __new__(cls):
return super(ROI3DScene, cls).__new__(cls)
def __init__(self):
# define rotation and translation matrix
self.__rotation = [0, 0, 0]
self.__translation = [0, 0, 0]
def __del__(self):
pass
def load(self, obj_filepath: str):
"""Load ROI3D scene from .obj file."""
# regex rules for .obj file parsing
OBJ_RX_DICT = {
'comment': re.compile(r'#(.*)\n'),
'name': re.compile(r'o (\w+)(.*)\n'),
'vertice': re.compile(r'v ([+-]?[0-9]*[.]?[0-9]+) ([+-]?[0-9]*[.]?[0-9]+) ([+-]?[0-9]*[.]?[0-9]+)\n'),
'face': re.compile(r'f (.*)\n')
}
# regex .obj line parser
def __parse_obj_line(line):
for key, rx in OBJ_RX_DICT.items():
match = rx.search(line)
if match:
return key, match
# if there are no matches
return None, None
# start parsing
try:
roi3D = {}
vertices = []
faces = []
# open the file and read through it line by line
with open(obj_filepath, 'r') as file:
line = file.readline()
while line:
# at each line check for a match with a regex
key, match = __parse_obj_line(line)
# extract comment
if key == 'comment':
pass
# extract roi3D name
elif key == 'name':
roi3D['NAME'] = str(match.group(1))
# fill vertices array
elif key == 'vertice':
vertices.append(tuple([float(match.group(1)), float(match.group(2)), float(match.group(3))]))
# extract roi3D vertice id
elif key == 'face':
roi3D['FACE'] = [int(i) for i in match.group(1).split()]
# store roi3D dict into scene array
self.append(roi3D)
# clear roi3D dict
roi3D = {}
# go to next line
line = file.readline()
file.close()
# retreive all roi3D vertices
for roi3D in self:
roi3D['VERTICES'] = [ vertices[i-1] for i in roi3D['FACE'] ]
roi3D.pop('FACE', None)
except IOError:
raise IOError(f'File not found: {obj_filepath}')
def set_rotation(self, rvec: list):
"""Set scene rotation vector."""
self.__rotation = rvec
def set_translation(self, tvec: list):
"""Set scene translation vector."""
self.__translation = tvec
def project(self, K, D):
"""Project 3D scene onto 2D scene according optical parameters.
**Returns:** AOI2DScene"""
roi2D_scene = ROI2DScene.ROI2DScene()
for roi3D in self:
vertices_3D = numpy.array(roi3D['VERTICES']).astype('float32')
vertices_2D, J = cv.projectPoints(vertices_3D, self.__rotation, self.__translation, K, D)
vertices_2D = vertices_2D.astype('int').reshape((len(vertices_2D), 2))
roi2D = {
'NAME': roi3D['NAME'],
'VERTICES': vertices_2D,
'POINTER_INSIDE': False
}
roi2D_scene.append(roi2D)
return roi2D_scene
|
