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fadb92b | 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 | """
This code is an adaptation that uses Structured 3D for the code base.
Reference: https://github.com/bertjiazheng/Structured3D
"""
import random
import cv2
import numpy as np
from shapely.geometry import Polygon
type2id = {
"living room": 0,
"kitchen": 1,
"bedroom": 2,
"bathroom": 3,
"balcony": 4,
"corridor": 5,
"dining room": 6,
"study": 7,
"studio": 8,
"store room": 9,
"garden": 10,
"laundry room": 11,
"office": 12,
"basement": 13,
"garage": 14,
"undefined": 15,
"door": 16,
"window": 17,
"outwall": -1,
}
def parse_floor_plan_polys(annos):
planes = []
for semantic in annos["semantics"]:
for planeID in semantic["planeID"]:
if annos["planes"][planeID]["type"] == "floor":
planes.append({"planeID": planeID, "type": semantic["type"]})
if semantic["type"] == "outwall":
outerwall_planes = semantic["planeID"]
# extract hole vertices
lines_holes = []
for semantic in annos["semantics"]:
if semantic["type"] in ["window", "door"]:
for planeID in semantic["planeID"]:
lines_holes.extend(np.where(np.array(annos["planeLineMatrix"][planeID]))[0].tolist())
lines_holes = np.unique(lines_holes)
# junctions on the floor
junctions = np.array([junc["coordinate"] for junc in annos["junctions"]])
junction_floor = np.where(np.isclose(junctions[:, -1], 0))[0]
# construct each polygon
polygons = []
for plane in planes:
lineIDs = np.where(np.array(annos["planeLineMatrix"][plane["planeID"]]))[0].tolist()
junction_pairs = [np.where(np.array(annos["lineJunctionMatrix"][lineID]))[0].tolist() for lineID in lineIDs]
polygon = convert_lines_to_vertices(junction_pairs)
polygons.append([polygon[0], plane["type"]])
outerwall_floor = []
for planeID in outerwall_planes:
lineIDs = np.where(np.array(annos["planeLineMatrix"][planeID]))[0].tolist()
lineIDs = np.setdiff1d(lineIDs, lines_holes)
junction_pairs = [np.where(np.array(annos["lineJunctionMatrix"][lineID]))[0].tolist() for lineID in lineIDs]
for start, end in junction_pairs:
if start in junction_floor and end in junction_floor:
outerwall_floor.append([start, end])
outerwall_polygon = convert_lines_to_vertices(outerwall_floor)
polygons.append([outerwall_polygon[0], "outwall"])
return polygons
def convert_lines_to_vertices(lines):
"""
convert line representation to polygon vertices
"""
polygons = []
lines = np.array(lines)
polygon = None
while len(lines) != 0:
if polygon is None:
polygon = lines[0].tolist()
lines = np.delete(lines, 0, 0)
lineID, juncID = np.where(lines == polygon[-1])
vertex = lines[lineID[0], 1 - juncID[0]]
lines = np.delete(lines, lineID, 0)
if vertex in polygon:
polygons.append(polygon)
polygon = None
else:
polygon.append(vertex)
return polygons
def generate_floorplan(
annos,
polygons,
height,
width,
ignore_types,
include_types=None,
fillpoly=True,
constant_color=False,
shuffle=False,
):
"""
plot floorplan
"""
floor_map = np.zeros((height, width))
junctions = np.array([junc["coordinate"][:2] for junc in annos["junctions"]])
room_ind = 0
if shuffle:
room_ind = np.random.randint(0, 2)
polygons_list = []
polygons_type_list = []
for poly_ind, (polygon, poly_type) in enumerate(polygons):
if poly_type in ignore_types:
continue
if include_types is not None and poly_type not in include_types:
continue
polygon = junctions[np.array(polygon)].astype(np.int32)
poly_shapely = Polygon(polygon)
area = poly_shapely.area
# assert area > 10
# if area < 100:
# continue
if poly_type not in ["door", "window"] and area < 100:
continue
if poly_type in ["door", "window"] and area < 1:
continue
if poly_type in ["door", "window"]:
assert polygon.shape[0] == 4
midp_1 = (polygon[0] + polygon[1]) / 2
midp_2 = (polygon[1] + polygon[2]) / 2
midp_3 = (polygon[2] + polygon[3]) / 2
midp_4 = (polygon[3] + polygon[0]) / 2
dist_1_3 = np.square(midp_1 - midp_3).sum()
dist_2_4 = np.square(midp_2 - midp_4).sum()
if dist_1_3 > dist_2_4:
polygon = np.row_stack([midp_1, midp_3])
else:
polygon = np.row_stack([midp_2, midp_4])
polygons_list.append(polygon)
polygons_type_list.append(type2id[poly_type])
if shuffle:
random.shuffle(polygons_list)
for poly_ind, polygon in enumerate(polygons_list):
if shuffle:
room_ind += np.random.randint(1, 2)
else:
room_ind += 1
if fillpoly:
if constant_color:
clr = 1.0
else:
clr = room_ind
cv2.fillPoly(floor_map, [polygon], color=clr)
else:
assert constant_color
cv2.polylines(floor_map, [polygon.astype(np.int32)], isClosed=True, color=1.0, thickness=3)
return floor_map, polygons_list, polygons_type_list
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