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9f85448 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 | """Depth aware 3D drawing canvas."""
from __future__ import annotations
from dataclasses import dataclass, field
from datetime import datetime
from pathlib import Path
import cv2
import numpy as np
from canvas import PALETTE
from smoothing import OneEuroFilter
MAX_JUMP = 0.12
MIN_STEP = 2.0
DEPTH_SPAN = 1.15
DEPTH_PX_PER_METER = 1.7
DEPTH_MIN_METERS = 0.12
DEPTH_BAND = 0.015
DEPTH_MAX_SPEED = 1.1
DEPTH_CUTOFF = 0.8
DEPTH_BETA = 4.0
DEPTH_STEP = 5.0
GRADIENT_SPAN = 0.5
GRADIENT_LO = 40
GRADIENT_HI = 218
TAIL = 7
NEAR_GAIN = 1.35
FAR_GAIN = 0.55
GRADIENT_NEAR_GAIN = 1.12
GRADIENT_FAR_GAIN = 0.80
_TURBO: np.ndarray = cv2.applyColorMap(
np.arange(256, dtype=np.uint8).reshape(-1, 1), cv2.COLORMAP_TURBO
).reshape(-1, 3)
@dataclass
class View:
"""Camera orientation and zoom."""
yaw: float = 0.0
pitch: float = 0.0
roll: float = 0.0
scale: float = 1.0
@dataclass
class Stroke3D:
"""One stroke in world space."""
color: tuple[int, int, int]
thickness: int
gradient: bool = False
view: View = field(default_factory=View)
points: list[tuple[float, float, float]] = field(default_factory=list)
screen: list[tuple[float, float]] = field(default_factory=list)
class DepthPen:
"""Noise tolerant metric depth."""
def __init__(self, band: float = DEPTH_BAND, max_speed: float = DEPTH_MAX_SPEED) -> None:
self.band = band
self.max_speed = max_speed
self.filter = OneEuroFilter(min_cutoff=DEPTH_CUTOFF, beta=DEPTH_BETA)
self.value: float | None = None
self.raw: float = 0.0
def reset(self) -> None:
"""Drop tracking state."""
self.filter.reset()
self.value = None
def __call__(self, depth_meters: float, dt: float) -> float | None:
"""Filter one depth sample."""
d = float(depth_meters)
if not np.isfinite(d) or d < DEPTH_MIN_METERS:
return self.value
step = max(float(dt), 1e-3)
self.raw = d
smooth = float(self.filter(np.array([d], dtype=np.float64), step)[0])
if self.value is None:
self.value = smooth
return self.value
delta = smooth - self.value
if abs(delta) <= self.band:
return self.value
move = np.sign(delta) * (abs(delta) - self.band)
limit = self.max_speed * step
self.value += float(np.clip(move, -limit, limit))
return self.value
def rotation(yaw: float, pitch: float, roll: float) -> np.ndarray:
"""Build rotation matrix."""
cy, sy = np.cos(yaw), np.sin(yaw)
cp, sp = np.cos(pitch), np.sin(pitch)
cr, sr = np.cos(roll), np.sin(roll)
ry = np.array([[cy, 0.0, sy], [0.0, 1.0, 0.0], [-sy, 0.0, cy]])
rx = np.array([[1.0, 0.0, 0.0], [0.0, cp, -sp], [0.0, sp, cp]])
rz = np.array([[cr, -sr, 0.0], [sr, cr, 0.0], [0.0, 0.0, 1.0]])
return rz @ ry @ rx
class Canvas3D:
"""Vector canvas with per point depth."""
def __init__(self, width: int, height: int, output_dir: str | Path = "output") -> None:
self.width = width
self.height = height
self.output_dir = Path(output_dir)
self.strokes: list[Stroke3D] = []
self._active: Stroke3D | None = None
self.color: tuple[int, int, int] = PALETTE[0]
self.gradient = True
self.thickness: int = 6
self.revision = 0
self.depth_span = float(height) * DEPTH_SPAN
self.gradient_span = float(height) * GRADIENT_SPAN
self.distance = float(height) * 2.2
self.focal = self.distance
self.px_per_meter = float(height) * DEPTH_PX_PER_METER
self.depth_ref: float | None = None
self.last_depth: float = 0.0
self.last_z: float = 0.0
self.view = View()
self.pen = DepthPen()
self._last_screen: tuple[float, float] | None = None
self._last_z = 0.0
def set_view(self, view: View) -> None:
"""Store the current camera."""
self.view = view
def depth_to_world_z(self, depth_meters: float, dt: float) -> float:
"""Map metric depth to world Z."""
held = self.pen(depth_meters, dt)
if held is None:
return self.last_z
if self.depth_ref is None:
self.depth_ref = held
self.last_depth = held
self.last_z = float(np.clip((held - self.depth_ref) * self.px_per_meter,
-self.depth_span, self.depth_span))
return self.last_z
def depth_color(self, world_z: float) -> tuple[int, int, int]:
"""Gradient color for a depth."""
t = float(np.clip((world_z + self.gradient_span) / (2.0 * self.gradient_span), 0.0, 1.0))
b, g, r = _TURBO[int(round(GRADIENT_LO + (1.0 - t) * (GRADIENT_HI - GRADIENT_LO)))]
return int(b), int(g), int(r)
def pen_color(self) -> tuple[int, int, int]:
"""Color the pen draws with now."""
return self.depth_color(self.last_z) if self.gradient else self.color
def use_gradient(self) -> None:
"""Color strokes by depth."""
self.gradient = True
def _matrix(self, view: View | None = None) -> np.ndarray:
"""Scaled rotation matrix."""
v = view or self.view
return rotation(v.yaw, v.pitch, v.roll) * max(v.scale, 1e-3)
def project(self, points: np.ndarray, view: View | None = None) -> tuple[np.ndarray, np.ndarray]:
"""Project world points to screen."""
pts = np.asarray(points, dtype=np.float64).reshape(-1, 3)
cam = pts @ self._matrix(view).T
z = np.maximum(cam[:, 2] + self.distance, 1e-3)
cx, cy = self.width * 0.5, self.height * 0.5
sx = cx + self.focal * cam[:, 0] / z
sy = cy + self.focal * cam[:, 1] / z
return np.stack([sx, sy], axis=1), z
def unproject(self, screen: np.ndarray, world_z: float,
view: View | None = None) -> tuple[float, float, float]:
"""Screen point at known depth to world."""
a = self._matrix(view)
cx, cy = self.width * 0.5, self.height * 0.5
u = float(screen[0]) - cx
v = float(screen[1]) - cy
f = self.focal
m = np.array(
[
[f * a[0, 0] - u * a[2, 0], f * a[0, 1] - u * a[2, 1]],
[f * a[1, 0] - v * a[2, 0], f * a[1, 1] - v * a[2, 1]],
],
dtype=np.float64,
)
rhs = np.array(
[
u * (a[2, 2] * world_z + self.distance) - f * a[0, 2] * world_z,
v * (a[2, 2] * world_z + self.distance) - f * a[1, 2] * world_z,
],
dtype=np.float64,
)
det = m[0, 0] * m[1, 1] - m[0, 1] * m[1, 0]
if abs(det) < 1e-9:
return 0.0, 0.0, world_z
x, y = np.linalg.solve(m, rhs)
return float(x), float(y), float(world_z)
def begin(self, view: View | None = None) -> None:
"""Start a new stroke."""
if self._active is None:
self._active = Stroke3D(color=self.color, thickness=self.thickness,
gradient=self.gradient, view=view or self.view)
self.strokes.append(self._active)
self._last_screen = None
def add_point(self, screen_point, depth_meters: float, dt: float,
view: View | None = None) -> None:
"""Append a screen point with metric depth."""
if self._active is None:
self.begin(view)
assert self._active is not None
sx = float(np.clip(float(screen_point[0]), 0.0, self.width - 1.0))
sy = float(np.clip(float(screen_point[1]), 0.0, self.height - 1.0))
z = self.depth_to_world_z(depth_meters, dt)
if self._last_screen is not None:
jump = float(np.hypot(sx - self._last_screen[0], sy - self._last_screen[1]))
if jump < MIN_STEP and abs(z - self._last_z) < DEPTH_STEP:
return
if jump > MAX_JUMP * float(np.hypot(self.width, self.height)):
self.end()
self.begin(view)
assert self._active is not None
stroke = self._active
stroke.points.append(self.unproject(np.array([sx, sy]), z, stroke.view))
stroke.screen.append((sx, sy))
self._smooth_tail()
self._last_screen = (sx, sy)
self._last_z = z
self.revision += 1
def _smooth_tail(self) -> None:
"""Low pass the newest depths."""
stroke = self._active
if stroke is None or len(stroke.points) < 3:
return
n = len(stroke.points)
zs = [p[2] for p in stroke.points]
for i in range(max(1, n - TAIL), n - 1):
z = 0.25 * zs[i - 1] + 0.5 * zs[i] + 0.25 * zs[i + 1]
if abs(z - zs[i]) < 1e-3:
continue
stroke.points[i] = self.unproject(np.array(stroke.screen[i]), z, stroke.view)
def end(self) -> None:
"""Finish current stroke."""
if self._active is not None and not self._active.points:
self.strokes.remove(self._active)
self.revision += 1
self._active = None
self._last_screen = None
self.pen.reset()
def undo(self) -> None:
"""Remove last stroke."""
if self.strokes:
self.strokes.pop()
self._active = None
self._last_screen = None
self.revision += 1
def clear(self) -> None:
"""Erase everything."""
self.strokes.clear()
self._active = None
self._last_screen = None
self._last_z = 0.0
self.pen.reset()
self.depth_ref = None
self.revision += 1
def set_color(self, index: int) -> None:
"""Select palette color."""
self.color = PALETTE[index % len(PALETTE)]
self.gradient = False
def set_thickness(self, value: int) -> None:
"""Set stroke thickness."""
self.thickness = int(max(1, min(48, value)))
def scale_content(self, factor: float) -> None:
"""Scale drawing about origin."""
if not self.strokes or abs(factor - 1.0) < 1e-3:
return
for s in self.strokes:
s.points = [(x * factor, y * factor, z * factor) for x, y, z in s.points]
s.thickness = int(max(1, min(48, round(s.thickness * factor))))
self._active = None
self._last_screen = None
self.revision += 1
@property
def is_empty(self) -> bool:
"""No strokes drawn."""
return not any(s.points for s in self.strokes)
def all_points(self) -> np.ndarray:
"""Every world point."""
pts = [p for s in self.strokes for p in s.points]
if not pts:
return np.zeros((0, 3), dtype=np.float64)
return np.asarray(pts, dtype=np.float64)
def content_span(self, view: View | None = None) -> float:
"""Projected diagonal length."""
pts = self.all_points()
if pts.shape[0] == 0:
return 0.0
proj, _ = self.project(pts, view)
x0, y0 = proj.min(axis=0)
x1, y1 = proj.max(axis=0)
return float(np.hypot(x1 - x0, y1 - y0))
def _segments(self, view: View | None = None) -> list[tuple[float, np.ndarray, np.ndarray, tuple[int, int, int], int]]:
"""Depth sorted screen segments."""
out: list[tuple[float, np.ndarray, np.ndarray, tuple[int, int, int], int]] = []
for s in self.strokes:
if not s.points:
continue
pts = np.asarray(s.points, dtype=np.float64)
proj, z = self.project(pts, view)
if len(s.points) == 1:
color = self.depth_color(pts[0, 2]) if s.gradient else s.color
out.append((float(z[0]), proj[0], proj[0],
self._shade(color, float(z[0]), s.gradient), s.thickness))
continue
for i in range(len(s.points) - 1):
zc = float((z[i] + z[i + 1]) * 0.5)
if s.gradient:
color = self.depth_color(float((pts[i, 2] + pts[i + 1, 2]) * 0.5))
else:
color = s.color
out.append((zc, proj[i], proj[i + 1],
self._shade(color, zc, s.gradient), s.thickness))
out.sort(key=lambda item: item[0], reverse=True)
return out
def _shade(self, color: tuple[int, int, int], z: float,
gradient: bool = False) -> tuple[int, int, int]:
"""Dim color by distance."""
t = float(np.clip((z - self.distance) / max(self.depth_span, 1e-6) + 0.5, 0.0, 1.0))
near, far = (GRADIENT_NEAR_GAIN, GRADIENT_FAR_GAIN) if gradient else (NEAR_GAIN, FAR_GAIN)
gain = near + (far - near) * t
return tuple(int(np.clip(c * gain, 0, 255)) for c in color)
def _thickness_at(self, base: int, z: float) -> int:
"""Perspective scaled thickness."""
k = self.focal / max(z, 1e-3)
return int(max(1, min(64, round(base * k))))
def render_over(self, frame: np.ndarray, view: View | None = None) -> np.ndarray:
"""Draw strokes onto a frame."""
out = frame.copy()
for z, a, b, color, thick in self._segments(view):
pa = (int(round(a[0])), int(round(a[1])))
pb = (int(round(b[0])), int(round(b[1])))
width = self._thickness_at(thick, z)
if pa == pb:
cv2.circle(out, pa, max(1, width // 2), color, -1, cv2.LINE_AA)
else:
cv2.line(out, pa, pb, color, width, cv2.LINE_AA)
return out
def composite_over(self, frame: np.ndarray, opacity: float = 1.0) -> np.ndarray:
"""Blend drawing onto frame."""
drawn = self.render_over(frame, self.view)
if opacity >= 1.0:
return drawn
return cv2.addWeighted(drawn, opacity, frame, 1.0 - opacity, 0.0)
def layers(self, view: View | None = None) -> tuple[np.ndarray, np.ndarray]:
"""Color layer and alpha mask."""
layer = np.zeros((self.height, self.width, 3), dtype=np.uint8)
mask = np.zeros((self.height, self.width), dtype=np.uint8)
for z, a, b, color, thick in self._segments(view):
pa = (int(round(a[0])), int(round(a[1])))
pb = (int(round(b[0])), int(round(b[1])))
width = self._thickness_at(thick, z)
if pa == pb:
cv2.circle(layer, pa, max(1, width // 2), color, -1, cv2.LINE_AA)
cv2.circle(mask, pa, max(1, width // 2), 255, -1, cv2.LINE_AA)
else:
cv2.line(layer, pa, pb, color, width, cv2.LINE_AA)
cv2.line(mask, pa, pb, 255, width, cv2.LINE_AA)
return layer, mask
def to_bgra(self, view: View | None = None) -> np.ndarray:
"""Drawing with transparent background."""
layer, mask = self.layers(view)
return np.dstack([layer, mask])
def save(self, tag: str = "3d") -> list[Path]:
"""Save current view as PNGs."""
self.output_dir.mkdir(parents=True, exist_ok=True)
stamp = datetime.now().strftime("%Y%m%d_%H%M%S")
suffix = f"_{tag}" if tag else ""
saved: list[Path] = []
layer, mask = self.layers(self.view)
transparent = self.output_dir / f"drawing_{stamp}{suffix}.png"
cv2.imwrite(str(transparent), np.dstack([layer, mask]))
saved.append(transparent)
white = np.full((self.height, self.width, 3), 255, dtype=np.uint8)
alpha = (mask.astype(np.float32) / 255.0)[:, :, None]
flat = (white * (1.0 - alpha) + layer * alpha).astype(np.uint8)
on_white = self.output_dir / f"drawing_{stamp}{suffix}_white.png"
cv2.imwrite(str(on_white), flat)
saved.append(on_white)
return saved
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