import os import shutil import numpy as np try: import matplotlib.pyplot as plt except ImportError: plt = None try: import pythreejs except ImportError: pythreejs = None try: from IPython.display import display except ImportError: display = None try: from IPython.display import IFrame except ImportError: IFrame = None def get_voxelgrid_pythreejs(xyz, colors): vertices = np.array(np.meshgrid([-0.5, 0.5], [-0.5, 0.5], [-0.5, 0.5]), dtype=np.float32).T.reshape(-1, 3) faces = np.array([[0, 3, 2], [0, 1, 3], # front [1, 7, 3], [1, 5, 7], # right [5, 6, 7], [5, 4, 6], # back [4, 2, 6], [4, 0, 2], # left [2, 7, 6], [2, 3, 7], # top [4, 1, 0], [4, 5, 1]], # bottom dtype=np.uint32) colors = pythreejs.InstancedBufferAttribute(array=colors, meshPerAttribute=3) offsets = pythreejs.InstancedBufferAttribute(array=xyz, meshPerAttribute=3) instanced_geometry = pythreejs.InstancedBufferGeometry( attributes={ "position": pythreejs.BufferAttribute(array=vertices), "index": pythreejs.BufferAttribute(array=faces.ravel()), "offset": offsets, "color": colors, }) material = pythreejs.ShaderMaterial( vertexShader=''' precision highp float; attribute vec3 offset; varying vec3 vPosition; varying vec4 vColor; void main(){ vPosition = position + offset; vColor = vec4( color, 1 ); gl_Position = projectionMatrix * modelViewMatrix * vec4( vPosition, 1.0 ); } ''', fragmentShader=''' precision highp float; varying vec4 vColor; void main() { gl_FragColor = vec4( vColor ); } ''', vertexColors='VertexColors', transparent=False ) return pythreejs.Mesh(instanced_geometry, material, frustumCulled=False) def get_centroid_and_camera_position(points): centroid = points.mean(0) abs_y_max = abs(points.max(0)[1]) abs_z_max = abs(points.max(0)[2]) position = tuple(centroid + [0, abs_y_max, abs_z_max * 1.5]) return centroid, position def plot_voxelgrid_with_matplotlib(voxelgrid, feature_vector, cmap='Oranges'): if plt is None: raise ImportError("matplotlib is required for 2d plotting") z_dim = voxelgrid.x_y_z[2] fig, axes = plt.subplots(int(np.ceil(z_dim / 4)), np.min((z_dim, 4)), figsize=(20, 20)) plt.tight_layout() for i, ax in enumerate(axes.flat if z_dim > 1 else [plt.gca()]): if i < z_dim: ax.imshow(feature_vector[:, :, i], cmap=cmap, interpolation="nearest") ax.set_title("Level " + str(i)) else: ax.axis('off') def plot_voxelgrid_with_pythreejs(voxel_centers, voxel_colors, width, height, **kwargs): if pythreejs is None: raise ImportError("pythreejs is needed for plotting with pythreejs backend.") if display is None: raise ImportError("IPython is needed for plotting with pythreejs backend.") centroid, camera_position = get_centroid_and_camera_position(voxel_centers) camera = pythreejs.PerspectiveCamera(fov=90, aspect=width/height, position=camera_position, up=[0, 0, 1]) mesh = get_voxelgrid_pythreejs(voxel_centers, voxel_colors) scene = pythreejs.Scene(children=[camera, mesh], background=None) controls = pythreejs.OrbitControls(controlling=camera, target=tuple(centroid)) camera.lookAt(tuple(centroid)) renderer = pythreejs.Renderer(scene=scene, camera=camera, controls=[controls], width=width, height=height) display(renderer) def plot_voxelgrid_with_threejs(voxel_centers, voxel_colors, scaled_shape, axis=True, output_name=None, width=800, height=500, **kwargs): if plt is None: raise ImportError("Matplotlib is needed for plotting.") if IFrame is None: raise ImportError("IFrame is needed for plotting.") centroid, camera_position = get_centroid_and_camera_position(voxel_centers) if axis: axis_size = voxel_centers.ptp() * 1.5 else: axis_size = 0 placeholders = {} placeholders["POINTS_X_PLACEHOLDER"] = voxel_centers[:, 0].tolist() placeholders["POINTS_Y_PLACEHOLDER"] = voxel_centers[:, 1].tolist() placeholders["POINTS_Z_PLACEHOLDER"] = voxel_centers[:, 2].tolist() placeholders["R_PLACEHOLDER"] = voxel_colors[:, 0].tolist() placeholders["G_PLACEHOLDER"] = voxel_colors[:, 1].tolist() placeholders["B_PLACEHOLDER"] = voxel_colors[:, 2].tolist() placeholders["S_x_PLACEHOLDER"] = scaled_shape[0] placeholders["S_y_PLACEHOLDER"] = scaled_shape[1] placeholders["S_z_PLACEHOLDER"] = scaled_shape[2] placeholders["CAMERA_X_PLACEHOLDER"] = camera_position[0] placeholders["CAMERA_Y_PLACEHOLDER"] = camera_position[1] placeholders["CAMERA_Z_PLACEHOLDER"] = camera_position[2] placeholders["LOOK_X_PLACEHOLDER"] = centroid[0] placeholders["LOOK_Y_PLACEHOLDER"] = centroid[1] placeholders["LOOK_Z_PLACEHOLDER"] = centroid[2] placeholders["AXIS_SIZE_PLACEHOLDER"] = axis_size placeholders["N_VOXELS_PLACEHOLDER"] = voxel_centers.shape[0] if output_name is None: output_name = "plotVG.html" BASE_PATH = os.path.dirname(os.path.abspath(__file__)) src = "{}/{}".format(BASE_PATH, "voxelgrid.html") dst = "{}/{}".format(os.getcwd(), output_name) with open(src, "r") as inp, open(dst, "w") as out: for line in inp: for key, val in placeholders.items(): if key in line: line = line.replace(key, str(val)) out.write(line) try: shutil.copytree("{}/assets".format(BASE_PATH), "{}/{}".format(os.getcwd(), "pyntcloud_plot_assets")) except FileExistsError: pass return IFrame(output_name, width=width, height=height) def plot_voxelgrid(voxelgrid, d=3, mode="binary", backend='pythreejs', cmap='Oranges', **kwargs): feature_vector = voxelgrid.get_feature_vector(mode) # Plot 2D if d == 2: return plot_voxelgrid_with_matplotlib(voxelgrid, feature_vector, cmap) elif d != 3: raise ValueError("d must be 2 or 3") # Voxelgrid colors if mode != 'binary' and plt is None: raise ImportError("matplotlib is required for non-binary plotting") elif mode != 'binary': s_m = plt.cm.ScalarMappable(cmap=cmap) flattened = feature_vector.ravel() rgba = s_m.to_rgba(flattened[np.nonzero(flattened)]) voxel_colors = rgba[:, :3].astype(np.float32) elif voxelgrid.colors is not None: voxel_colors = (voxelgrid.voxel_colors / 255).astype(np.float32) else: voxel_colors = np.full((voxelgrid.n_voxels, 3), 200, dtype=np.int) # Plot 3D feature_vector = voxelgrid.get_feature_vector(mode) scaled_shape = np.asarray(voxelgrid.shape) / min(voxelgrid.shape) voxel_centers = (np.argwhere(feature_vector) * scaled_shape).astype(np.float32) if backend == 'pythreejs': plot_voxelgrid_with_pythreejs( voxel_centers, voxel_colors, **kwargs) elif backend == 'threejs': plot_voxelgrid_with_threejs( voxel_centers, voxel_colors, scaled_shape, **kwargs) else: raise NotImplementedError("{} backend is not supported".format(backend))