pifuhd/lib/render/mesh.py

'''
MIT License

Copyright (c) 2019 Shunsuke Saito, Zeng Huang, and Ryota Natsume

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
'''
import numpy as np


def save_obj_mesh(mesh_path, verts, faces):
    file = open(mesh_path, 'w')
    for v in verts:
        file.write('v %.4f %.4f %.4f\n' % (v[0], v[1], v[2]))
    for f in faces:
        f_plus = f + 1
        file.write('f %d %d %d\n' % (f_plus[0], f_plus[1], f_plus[2]))
    file.close()

# https://github.com/ratcave/wavefront_reader
def read_mtlfile(fname):
    materials = {}
    with open(fname) as f:
        lines = f.read().splitlines()

    for line in lines:
        if line:
            split_line = line.strip().split(' ', 1)
            if len(split_line) < 2:
                continue

            prefix, data = split_line[0], split_line[1]
            if 'newmtl' in prefix:
                material = {}
                materials[data] = material
            elif materials:
                if data:
                    split_data = data.strip().split(' ')

                    # assume texture maps are in the same level
                    # WARNING: do not include space in your filename!!                    
                    if 'map' in prefix:
                        material[prefix] = split_data[-1].split('\\')[-1]
                    elif len(split_data) > 1:
                        material[prefix] = tuple(float(d) for d in split_data)
                    else:
                        try:
                            material[prefix] = int(data)
                        except ValueError:
                            material[prefix] = float(data)

    return materials


def load_obj_mesh_mtl(mesh_file):
    vertex_data = []
    norm_data = []
    uv_data = []

    face_data = []
    face_norm_data = []
    face_uv_data = []

    # face per material
    face_data_mat = {}
    face_norm_data_mat = {}
    face_uv_data_mat = {}

    # current material name
    mtl_data = None
    cur_mat = None

    if isinstance(mesh_file, str):
        f = open(mesh_file, "r")
    else:
        f = mesh_file
    for line in f:
        if isinstance(line, bytes):
            line = line.decode("utf-8")
        if line.startswith('#'):
            continue
        values = line.split()
        if not values:
            continue

        if values[0] == 'v':
            v = list(map(float, values[1:4]))
            vertex_data.append(v)
        elif values[0] == 'vn':
            vn = list(map(float, values[1:4]))
            norm_data.append(vn)
        elif values[0] == 'vt':
            vt = list(map(float, values[1:3]))
            uv_data.append(vt)
        elif values[0] == 'mtllib':
            mtl_data = read_mtlfile(mesh_file.replace(mesh_file.split('/')[-1],values[1]))
        elif values[0] == 'usemtl':
            cur_mat = values[1]
        elif values[0] == 'f':
            # local triangle data
            l_face_data = []
            l_face_uv_data = []
            l_face_norm_data = []

            # quad mesh
            if len(values) > 4:
                f = list(map(lambda x: int(x.split('/')[0]) if int(x.split('/')[0]) < 0 else int(x.split('/')[0])-1, values[1:4]))
                l_face_data.append(f)
                f = list(map(lambda x: int(x.split('/')[0]) if int(x.split('/')[0]) < 0 else int(x.split('/')[0])-1, [values[3], values[4], values[1]]))
                l_face_data.append(f)
            # tri mesh
            else:
                f = list(map(lambda x: int(x.split('/')[0]) if int(x.split('/')[0]) < 0 else int(x.split('/')[0])-1, values[1:4]))
                l_face_data.append(f)
            # deal with texture
            if len(values[1].split('/')) >= 2:
                # quad mesh
                if len(values) > 4:
                    f = list(map(lambda x: int(x.split('/')[1]) if int(x.split('/')[1]) < 0 else int(x.split('/')[1])-1, values[1:4]))
                    l_face_uv_data.append(f)
                    f = list(map(lambda x: int(x.split('/')[1]) if int(x.split('/')[1]) < 0 else int(x.split('/')[1])-1, [values[3], values[4], values[1]]))
                    l_face_uv_data.append(f)
                # tri mesh
                elif len(values[1].split('/')[1]) != 0:
                    f = list(map(lambda x: int(x.split('/')[1]) if int(x.split('/')[1]) < 0 else int(x.split('/')[1])-1, values[1:4]))
                    l_face_uv_data.append(f)
            # deal with normal
            if len(values[1].split('/')) == 3:
                # quad mesh
                if len(values) > 4:
                    f = list(map(lambda x: int(x.split('/')[2]) if int(x.split('/')[2]) < 0 else int(x.split('/')[2])-1, values[1:4]))
                    l_face_norm_data.append(f)
                    f = list(map(lambda x: int(x.split('/')[2]) if int(x.split('/')[2]) < 0 else int(x.split('/')[2])-1, [values[3], values[4], values[1]]))
                    l_face_norm_data.append(f)
                # tri mesh
                elif len(values[1].split('/')[2]) != 0:
                    f = list(map(lambda x: int(x.split('/')[2]) if int(x.split('/')[2]) < 0 else int(x.split('/')[2])-1, values[1:4]))
                    l_face_norm_data.append(f)
            
            face_data += l_face_data
            face_uv_data += l_face_uv_data
            face_norm_data += l_face_norm_data

            if cur_mat is not None:
                if cur_mat not in face_data_mat.keys():
                    face_data_mat[cur_mat] = []
                if cur_mat not in face_uv_data_mat.keys():
                    face_uv_data_mat[cur_mat] = []
                if cur_mat not in face_norm_data_mat.keys():
                    face_norm_data_mat[cur_mat] = []
                face_data_mat[cur_mat] += l_face_data
                face_uv_data_mat[cur_mat] += l_face_uv_data
                face_norm_data_mat[cur_mat] += l_face_norm_data

    vertices = np.array(vertex_data)
    faces = np.array(face_data)

    norms = np.array(norm_data)
    norms = normalize_v3(norms)
    face_normals = np.array(face_norm_data)

    uvs = np.array(uv_data)
    face_uvs = np.array(face_uv_data)

    out_tuple = (vertices, faces, norms, face_normals, uvs, face_uvs)

    if cur_mat is not None and mtl_data is not None:
        for key in face_data_mat:
            face_data_mat[key] = np.array(face_data_mat[key])
            face_uv_data_mat[key] = np.array(face_uv_data_mat[key])
            face_norm_data_mat[key] = np.array(face_norm_data_mat[key])
        
        out_tuple += (face_data_mat, face_norm_data_mat, face_uv_data_mat, mtl_data)

    return out_tuple
    

def load_obj_mesh(mesh_file, with_normal=False, with_texture=False):
    vertex_data = []
    norm_data = []
    uv_data = []

    face_data = []
    face_norm_data = []
    face_uv_data = []

    if isinstance(mesh_file, str):
        f = open(mesh_file, "r")
    else:
        f = mesh_file
    for line in f:
        if isinstance(line, bytes):
            line = line.decode("utf-8")
        if line.startswith('#'):
            continue
        values = line.split()
        if not values:
            continue

        if values[0] == 'v':
            v = list(map(float, values[1:4]))
            vertex_data.append(v)
        elif values[0] == 'vn':
            vn = list(map(float, values[1:4]))
            norm_data.append(vn)
        elif values[0] == 'vt':
            vt = list(map(float, values[1:3]))
            uv_data.append(vt)

        elif values[0] == 'f':
            # quad mesh
            if len(values) > 4:
                f = list(map(lambda x: int(x.split('/')[0]), values[1:4]))
                face_data.append(f)
                f = list(map(lambda x: int(x.split('/')[0]), [values[3], values[4], values[1]]))
                face_data.append(f)
            # tri mesh
            else:
                f = list(map(lambda x: int(x.split('/')[0]), values[1:4]))
                face_data.append(f)
            
            # deal with texture
            if len(values[1].split('/')) >= 2:
                # quad mesh
                if len(values) > 4:
                    f = list(map(lambda x: int(x.split('/')[1]), values[1:4]))
                    face_uv_data.append(f)
                    f = list(map(lambda x: int(x.split('/')[1]), [values[3], values[4], values[1]]))
                    face_uv_data.append(f)
                # tri mesh
                elif len(values[1].split('/')[1]) != 0:
                    f = list(map(lambda x: int(x.split('/')[1]), values[1:4]))
                    face_uv_data.append(f)
            # deal with normal
            if len(values[1].split('/')) == 3:
                # quad mesh
                if len(values) > 4:
                    f = list(map(lambda x: int(x.split('/')[2]), values[1:4]))
                    face_norm_data.append(f)
                    f = list(map(lambda x: int(x.split('/')[2]), [values[3], values[4], values[1]]))
                    face_norm_data.append(f)
                # tri mesh
                elif len(values[1].split('/')[2]) != 0:
                    f = list(map(lambda x: int(x.split('/')[2]), values[1:4]))
                    face_norm_data.append(f)

    vertices = np.array(vertex_data)
    faces = np.array(face_data) - 1

    if with_texture and with_normal:
        uvs = np.array(uv_data)
        face_uvs = np.array(face_uv_data) - 1
        norms = np.array(norm_data)
        if norms.shape[0] == 0:
            norms = compute_normal(vertices, faces)
            face_normals = faces
        else:
            norms = normalize_v3(norms)
            face_normals = np.array(face_norm_data) - 1
        return vertices, faces, norms, face_normals, uvs, face_uvs

    if with_texture:
        uvs = np.array(uv_data)
        face_uvs = np.array(face_uv_data) - 1
        return vertices, faces, uvs, face_uvs

    if with_normal:
        norms = np.array(norm_data)
        norms = normalize_v3(norms)
        face_normals = np.array(face_norm_data) - 1
        return vertices, faces, norms, face_normals

    return vertices, faces


def normalize_v3(arr):
    ''' Normalize a numpy array of 3 component vectors shape=(n,3) '''
    lens = np.sqrt(arr[:, 0] ** 2 + arr[:, 1] ** 2 + arr[:, 2] ** 2)
    eps = 0.00000001
    lens[lens < eps] = eps
    arr[:, 0] /= lens
    arr[:, 1] /= lens
    arr[:, 2] /= lens
    return arr


def compute_normal(vertices, faces):
    # Create a zeroed array with the same type and shape as our vertices i.e., per vertex normal
    norm = np.zeros(vertices.shape, dtype=vertices.dtype)
    # Create an indexed view into the vertex array using the array of three indices for triangles
    tris = vertices[faces]
    # Calculate the normal for all the triangles, by taking the cross product of the vectors v1-v0, and v2-v0 in each triangle
    n = np.cross(tris[::, 1] - tris[::, 0], tris[::, 2] - tris[::, 0])
    # n is now an array of normals per triangle. The length of each normal is dependent the vertices,
    # we need to normalize these, so that our next step weights each normal equally.
    normalize_v3(n)
    # now we have a normalized array of normals, one per triangle, i.e., per triangle normals.
    # But instead of one per triangle (i.e., flat shading), we add to each vertex in that triangle,
    # the triangles' normal. Multiple triangles would then contribute to every vertex, so we need to normalize again afterwards.
    # The cool part, we can actually add the normals through an indexed view of our (zeroed) per vertex normal array
    norm[faces[:, 0]] += n
    norm[faces[:, 1]] += n
    norm[faces[:, 2]] += n
    normalize_v3(norm)

    return norm

# compute tangent and bitangent
def compute_tangent(vertices, faces, normals, uvs, faceuvs):    
    # NOTE: this could be numerically unstable around [0,0,1]
    # but other current solutions are pretty freaky somehow
    c1 = np.cross(normals, np.array([0,1,0.0]))
    tan = c1
    normalize_v3(tan)
    btan = np.cross(normals, tan)

    # NOTE: traditional version is below

    # pts_tris = vertices[faces]
    # uv_tris = uvs[faceuvs]

    # W = np.stack([pts_tris[::, 1] - pts_tris[::, 0], pts_tris[::, 2] - pts_tris[::, 0]],2)
    # UV = np.stack([uv_tris[::, 1] - uv_tris[::, 0], uv_tris[::, 2] - uv_tris[::, 0]], 1)
    
    # for i in range(W.shape[0]):
    #     W[i,::] = W[i,::].dot(np.linalg.inv(UV[i,::]))

    # tan = np.zeros(vertices.shape, dtype=vertices.dtype)
    # tan[faces[:,0]] += W[:,:,0]
    # tan[faces[:,1]] += W[:,:,0]
    # tan[faces[:,2]] += W[:,:,0]

    # btan = np.zeros(vertices.shape, dtype=vertices.dtype)
    # btan[faces[:,0]] += W[:,:,1]
    # btan[faces[:,1]] += W[:,:,1]    
    # btan[faces[:,2]] += W[:,:,1]

    # normalize_v3(tan)
    
    # ndott = np.sum(normals*tan, 1, keepdims=True)
    # tan = tan - ndott * normals

    # normalize_v3(btan)
    # normalize_v3(tan)

    # tan[np.sum(np.cross(normals, tan) * btan, 1) < 0,:] *= -1.0

    return tan, btan

if __name__ == '__main__':
    pts, tri, nml, trin, uvs, triuv = load_obj_mesh('/home/ICT2000/ssaito/Documents/Body/tmp/Baseball_Pitching/0012.obj', True, True)
    compute_tangent(pts, tri, uvs, triuv)