212 lines
7.2 KiB
Python
212 lines
7.2 KiB
Python
import numpy as np
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import skan
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from skimage.morphology import skeletonize
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from skan.csr import skeleton_to_csgraph
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from collections import Counter
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from PIL import Image
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import random
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import config
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from gdpc import Editor
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class Skeleton:
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def __init__(self):
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self.lines = []
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self.intersections = []
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self.centers = []
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self.graph = []
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self.coordinates = []
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def setSkeleton(self, data):
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binary_skeleton = skeletonize(data)
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graph, coordinates = skeleton_to_csgraph(binary_skeleton)
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self.graph = graph.tocoo()
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# List of lists. Inverted coordinates.
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coordinates = list(coordinates)
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print(coordinates)
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for i in range(len(coordinates)):
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coordinates[i] = list(coordinates[i])
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print(coordinates)
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coordinates_final = []
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for i in range(len(coordinates[0])):
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print((coordinates[0][i], coordinates[1][i], coordinates[2][i]))
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coordinates_final.append(
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(coordinates[0][i], coordinates[1][i], coordinates[2][i]))
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self.coordinates = coordinates_final
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def findNextElements(self, key):
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"""Find the very nearest elements"""
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line = []
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values = np.array(self.graph.row)
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indices = np.where(values == key)[0]
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for i in range(len(indices)):
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if self.graph.row[indices[i]] == key:
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line.append(self.graph.col[indices[i]])
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return line
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def findLine(self, key):
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nextKeys = self.findNextElements(key)
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if len(nextKeys) >= 3: # Intersections.
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return nextKeys
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if len(nextKeys) == 2 or len(nextKeys) == 1: # In line or endpoints.
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line = []
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line.append(key)
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line.insert(0, nextKeys[0])
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if len(nextKeys) == 2:
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line.insert(len(line), nextKeys[1])
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nextKeys = line[0], line[-1]
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while len(nextKeys) == 2 or len(nextKeys) == 1:
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extremity = []
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for key in nextKeys:
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nextKeys = self.findNextElements(key)
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if len(nextKeys) <= 2:
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# Add the neighbors that is not already in the line.
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for element in nextKeys:
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if element not in line:
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extremity.append(element)
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line.append(element)
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if len(nextKeys) >= 3:
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# Add the intersection only.
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extremity.append(key)
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nextKeys = []
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for key in extremity:
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ends = self.findNextElements(key)
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if len(ends) == 2:
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nextKeys.append(key)
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return line
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def parseGraph(self):
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for key, value in sorted(
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Counter(self.graph.row).items(), key=lambda kv: kv[1], reverse=True
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):
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# Start from the biggest intersections.
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if value != 2: # We don't want to be in the middle of a line.
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line = self.findLine(key)
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# We have now all the connected points if it's an
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# intersection. We need to find the line.
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if value != 1:
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# It's not an endpoint.
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self.centers.append(key)
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self.intersections.append(line)
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for i in line:
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line = self.findLine(i)
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if i in line:
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# The key is inside the result : it's a line.
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alreadyInside = False
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for l in self.lines:
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# Verification if not already inside.
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if Counter(l) == Counter(line):
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alreadyInside = True
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# print(line, "inside", lines)
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if alreadyInside == False:
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self.lines.append(line)
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else:
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# The key is not inside the result, it's an
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# intersection directly connected to the key.
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line = [key, i]
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alreadyInside = False
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for l in self.lines:
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# Verification if not already inside.
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if Counter(l) == Counter(line):
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alreadyInside = True
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# print(line, "inside", lines)
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if alreadyInside == False:
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self.lines.append(line)
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def map(self):
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"""
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Generate an image to visualize 2D path of the skeleton.
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Returns:
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image: 2D path of the skeleton on top of the heightmap.
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"""
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editor = Editor(host=config.getHost())
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buildArea = editor.getBuildArea()
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buildRect = buildArea.toRect()
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xzStart = buildRect.begin
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xzDistance = (max(buildRect.end[0], buildRect.begin[0]) - min(buildRect.end[0], buildRect.begin[0]), max(
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buildRect.end[1], buildRect.begin[1]) - min(buildRect.end[1], buildRect.begin[1]))
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heightmap = Image.open("data/heightmap.png").convert('RGB')
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roadsArea = Image.new("L", xzDistance, 0)
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width, height = heightmap.size
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# Lines
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for i in range(len(self.lines)):
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r, g, b = (random.randint(0, 255), random.randint(
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0, 255), random.randint(0, 255))
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for j in range(len(self.lines[i])):
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z = self.coordinates[self.lines[i][j]][0]
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y = self.coordinates[self.lines[i][j]][1]
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x = self.coordinates[self.lines[i][j]][2]
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heightmap.putpixel(
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(
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int(z),
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int(x),
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),
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(r + j, g + j, b + j),
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)
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roadsArea.putpixel(
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(
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int(z),
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int(x),
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),
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(255),
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)
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# Centers
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for i in range(len(self.centers)):
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print(self.coordinates[self.centers[i]])
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heightmap.putpixel(
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(int(self.coordinates[self.centers[i]][0]), int(
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self.coordinates[self.centers[i]][2])),
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(255, 255, 0),
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)
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roadsArea.putpixel(
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(int(self.coordinates[self.centers[i]][0]), int(
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self.coordinates[self.centers[i]][2])),
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(255),
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)
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# # Intersections
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# for i in range(len(self.intersections)):
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# intersection = []
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# for j in range(len(self.intersections[i])):
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# intersection.append(self.coordinates[self.intersections[i][j]])
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# for i in range(len(intersection)):
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# heightmap.putpixel(
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# (int(self.intersections[i][2]), int(self.intersections[i][0])),
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# (255, 0, 255),
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# )
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return heightmap, roadsArea
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