453 lines
14 KiB
Python
453 lines
14 KiB
Python
"""
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Polygon module
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SPDX - License - Identifier: LGPL - 3.0 - or -later
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Copyright © 2022 Concordia CERC group
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Project Coder Pilar Monsalvete Alvarez de Uribarri pilar.monsalvete@concordia.ca
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"""
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from __future__ import annotations
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import logging
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import math
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import sys
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from typing import List
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import numpy as np
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from trimesh import Trimesh
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import trimesh.intersections
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import trimesh.creation
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import trimesh.geometry
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from shapely.geometry.polygon import Polygon as shapley_polygon
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from hub.city_model_structure.attributes.plane import Plane
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from hub.city_model_structure.attributes.point import Point
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import hub.helpers.constants as cte
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class Polygon:
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"""
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Polygon class
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"""
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def __init__(self, coordinates):
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self._area = None
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self._points = None
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self._points_list = None
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self._normal = None
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self._inverse = None
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self._edges = None
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self._coordinates = coordinates
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self._triangles = None
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self._vertices = None
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self._faces = None
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self._plane = None
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@property
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def points(self) -> List[Point]:
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"""
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Get the points belonging to the polygon [[x, y, z],...]
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:return: [Point]
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"""
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if self._points is None:
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self._points = []
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for coordinate in self.coordinates:
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self._points.append(Point(coordinate))
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return self._points
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@property
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def plane(self) -> Plane:
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"""
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Get the polygon plane
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:return: Plane
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"""
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if self._plane is None:
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self._plane = Plane(normal=self.normal, origin=self.points[0])
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return self._plane
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@property
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def coordinates(self) -> List[np.ndarray]:
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"""
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Get the points in the shape of its coordinates belonging to the polygon [[x, y, z],...]
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:return: [np.ndarray]
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"""
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return self._coordinates
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def contains_point(self, point):
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"""
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Determines if the given point is contained by the current polygon
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:return: boolean
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"""
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# fixme: This method doesn't seems to work.
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n = len(self.vertices)
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angle_sum = 0
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for i in range(0, n):
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vector_0 = self.vertices[i]
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vector_1 = self.vertices[(i+1) % n]
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# set to origin
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vector_0[0] = vector_0[0] - point.coordinates[0]
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vector_0[1] = vector_0[1] - point.coordinates[1]
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vector_0[2] = vector_0[2] - point.coordinates[2]
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vector_1[0] = vector_1[0] - point.coordinates[0]
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vector_1[1] = vector_1[1] - point.coordinates[1]
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vector_1[2] = vector_1[2] - point.coordinates[2]
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module = np.linalg.norm(vector_0) * np.linalg.norm(vector_1)
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scalar_product = np.dot(vector_0, vector_1)
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angle = np.pi/2
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if module != 0:
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angle = abs(np.arcsin(scalar_product / module))
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angle_sum += angle
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return abs(angle_sum - math.pi*2) < cte.EPSILON
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def contains_polygon(self, polygon):
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"""
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Determines if the given polygon is contained by the current polygon
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:return: boolean
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"""
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for point in polygon.points:
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if not self.contains_point(point):
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return False
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return True
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@property
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def points_list(self) -> np.ndarray:
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"""
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Get the solid surface point coordinates list [x, y, z, x, y, z,...]
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:return: np.ndarray
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"""
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if self._points_list is None:
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s = self.coordinates
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self._points_list = np.reshape(s, len(s) * 3)
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return self._points_list
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@property
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def edges(self) -> List[List[Point]]:
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"""
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Get polygon edges list
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:return: [[Point]]
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"""
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if self._edges is None:
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self._edges = []
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for i in range(0, len(self.points) - 1):
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point_1 = self.points[i]
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point_2 = self.points[i + 1]
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self._edges.append([point_1, point_2])
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self._edges.append([self.points[len(self.points) - 1], self.points[0]])
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return self._edges
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@property
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def area(self):
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"""
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Get surface area in square meters
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:return: float
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"""
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if self._area is None:
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self._area = 0
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for triangle in self.triangles:
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ab = np.zeros(3)
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ac = np.zeros(3)
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for i in range(0, 3):
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ab[i] = triangle.coordinates[1][i] - triangle.coordinates[0][i]
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ac[i] = triangle.coordinates[2][i] - triangle.coordinates[0][i]
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self._area += np.linalg.norm(np.cross(ab, ac)) / 2
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return self._area
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@area.setter
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def area(self, value):
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self._area = value
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@property
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def normal(self) -> np.ndarray:
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"""
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Get surface normal vector
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:return: np.ndarray
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"""
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if self._normal is None:
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points = self.coordinates
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# todo: IF THE FIRST ONE IS 0, START WITH THE NEXT
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point_origin = points[len(points) - 2]
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vector_1 = points[len(points) - 1] - point_origin
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vector_2 = points[0] - point_origin
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vector_3 = points[1] - point_origin
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cross_product = np.cross(vector_1, vector_2)
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if np.linalg.norm(cross_product) != 0:
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cross_product = cross_product / np.linalg.norm(cross_product)
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alpha = self._angle_between_vectors(vector_1, vector_2)
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else:
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cross_product = [0, 0, 0]
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alpha = 0
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if len(points) == 3:
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return cross_product
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if np.linalg.norm(cross_product) == 0:
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return cross_product
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alpha += self._angle(vector_2, vector_3, cross_product)
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for i in range(0, len(points) - 4):
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vector_1 = points[i + 1] - point_origin
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vector_2 = points[i + 2] - point_origin
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alpha += self._angle(vector_1, vector_2, cross_product)
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vector_1 = points[len(points) - 1] - point_origin
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vector_2 = points[0] - point_origin
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if alpha < 0:
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cross_product = np.cross(vector_2, vector_1)
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else:
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cross_product = np.cross(vector_1, vector_2)
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self._normal = cross_product / np.linalg.norm(cross_product)
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return self._normal
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@staticmethod
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def _angle(vector_1, vector_2, cross_product):
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"""
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alpha angle in radians
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:param vector_1: [float]
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:param vector_2: [float]
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:param cross_product: [float]
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:return: float
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"""
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accepted_normal_difference = 0.01
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cross_product_next = np.cross(vector_1, vector_2)
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if np.linalg.norm(cross_product_next) != 0:
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cross_product_next = cross_product_next / np.linalg.norm(cross_product_next)
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alpha = Polygon._angle_between_vectors(vector_1, vector_2)
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else:
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cross_product_next = [0, 0, 0]
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alpha = 0
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delta_normals = 0
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for j in range(0, 3):
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delta_normals += cross_product[j] - cross_product_next[j]
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if np.abs(delta_normals) < accepted_normal_difference:
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return alpha
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return -alpha
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@staticmethod
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def triangle_mesh(vertices, normal):
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min_x = 1e16
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min_y = 1e16
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min_z = 1e16
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for vertex in vertices:
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if vertex[0] < min_x:
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min_x = vertex[0]
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if vertex[1] < min_y:
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min_y = vertex[1]
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if vertex[2] < min_z:
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min_z = vertex[2]
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new_vertices = []
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for vertex in vertices:
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vertex = [vertex[0]-min_x, vertex[1]-min_y, vertex[2]-min_z]
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new_vertices.append(vertex)
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transformation_matrix = trimesh.geometry.plane_transform(origin=new_vertices[0], normal=normal)
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coordinates = []
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for vertex in vertices:
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transformed_vertex = [vertex[0]-min_x, vertex[1]-min_y, vertex[2]-min_z, 1]
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transformed_vertex = np.dot(transformation_matrix, transformed_vertex)
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coordinate = [transformed_vertex[0], transformed_vertex[1]]
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coordinates.append(coordinate)
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polygon = shapley_polygon(coordinates)
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try:
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vertices_2d, faces = trimesh.creation.triangulate_polygon(polygon, engine='triangle')
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mesh = Trimesh(vertices=vertices, faces=faces)
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# check orientation
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normal_sum = 0
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for i in range(0, 3):
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normal_sum += normal[i] + mesh.face_normals[0][i]
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if abs(normal_sum) <= 1E-10:
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new_faces = []
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for face in faces:
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new_face = []
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for i in range(0, len(face)):
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new_face.append(face[len(face)-i-1])
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new_faces.append(new_face)
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mesh = Trimesh(vertices=vertices, faces=new_faces)
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return mesh
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except ValueError:
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logging.error(f'Not able to triangulate polygon\n')
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_vertices = [[0, 0, 0], [0, 0, 1], [0, 1, 0]]
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_faces = [[0, 1, 2]]
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return Trimesh(vertices=_vertices, faces=_faces)
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@property
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def triangles(self) -> List[Polygon]:
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if self._triangles is None:
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self._triangles = []
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_mesh = self.triangle_mesh(self.coordinates, self.normal)
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for face in _mesh.faces:
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points = []
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for vertex in face:
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points.append(self.coordinates[vertex])
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polygon = Polygon(points)
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self._triangles.append(polygon)
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return self._triangles
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@staticmethod
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def _angle_between_vectors(vec_1, vec_2):
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"""
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angle between vectors in radians
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:param vec_1: vector
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:param vec_2: vector
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:return: float
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"""
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if np.linalg.norm(vec_1) == 0 or np.linalg.norm(vec_2) == 0:
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sys.stderr.write("Warning: impossible to calculate angle between planes' normal. Return 0\n")
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return 0
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cosine = np.dot(vec_1, vec_2) / np.linalg.norm(vec_1) / np.linalg.norm(vec_2)
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if cosine > 1 and cosine - 1 < 1e-5:
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cosine = 1
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elif cosine < -1 and cosine + 1 > -1e-5:
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cosine = -1
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alpha = math.acos(cosine)
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return alpha
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@property
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def inverse(self):
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"""
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Get the polygon coordinates in reversed order
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:return: [np.ndarray]
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"""
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if self._inverse is None:
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self._inverse = self.coordinates[::-1]
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return self._inverse
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def divide(self, plane):
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"""
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Divides the polygon in two by a plane
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:param plane: plane that intersects with self to divide it in two parts (Plane)
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:return: Polygon, Polygon, [Point]
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"""
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tri_polygons = Trimesh(vertices=self.vertices, faces=self.faces)
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intersection = trimesh.intersections.mesh_plane(tri_polygons, plane.normal, plane.origin.coordinates)
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polys_1 = trimesh.intersections.slice_mesh_plane(tri_polygons, plane.opposite_normal, plane.origin.coordinates)
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polys_2 = trimesh.intersections.slice_mesh_plane(tri_polygons, plane.normal, plane.origin.coordinates)
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triangles_1 = []
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for triangle in polys_1.triangles:
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triangles_1.append(Polygon(triangle))
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polygon_1 = self._reshape(triangles_1)
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triangles_2 = []
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for triangle in polys_2.triangles:
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triangles_2.append(Polygon(triangle))
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polygon_2 = self._reshape(triangles_2)
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return polygon_1, polygon_2, intersection
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def _reshape(self, triangles) -> Polygon:
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edges_list = []
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for i in range(0, len(triangles)):
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for edge in triangles[i].edges:
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if not self._edge_in_edges_list(edge, edges_list):
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edges_list.append(edge)
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else:
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edges_list = self._remove_from_list(edge, edges_list)
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points = self._order_points(edges_list)
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return Polygon(points)
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@staticmethod
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def _edge_in_edges_list(edge, edges_list):
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for edge_element in edges_list:
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if (edge_element[0].distance_to_point(edge[0]) == 0 and edge_element[1].distance_to_point(edge[1]) == 0) or \
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(edge_element[1].distance_to_point(edge[0]) == 0 and edge_element[0].distance_to_point(
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edge[1]) == 0):
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return True
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return False
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@staticmethod
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def _order_points(edges_list):
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# todo: not sure that this method works for any case -> RECHECK
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points = edges_list[0]
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for _ in range(0, len(points)):
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for i in range(1, len(edges_list)):
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point_1 = edges_list[i][0]
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point_2 = points[len(points) - 1]
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if point_1.distance_to_point(point_2) == 0:
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points.append(edges_list[i][1])
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points.remove(points[len(points) - 1])
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array_points = []
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for point in points:
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array_points.append(point.coordinates)
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return np.array(array_points)
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@staticmethod
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def _remove_from_list(edge, edges_list):
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new_list = []
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for edge_element in edges_list:
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if not ((edge_element[0].distance_to_point(edge[0]) == 0 and edge_element[1].distance_to_point(
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edge[1]) == 0) or
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(edge_element[1].distance_to_point(edge[0]) == 0 and edge_element[0].distance_to_point(
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edge[1]) == 0)):
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new_list.append(edge_element)
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return new_list
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@property
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def vertices(self) -> np.ndarray:
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"""
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Get polygon vertices
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:return: np.ndarray(int)
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"""
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if self._vertices is None:
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vertices, self._vertices = [], []
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_ = [vertices.extend(s.coordinates) for s in self.triangles]
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for vertex_1 in vertices:
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found = False
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for vertex_2 in self._vertices:
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found = False
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power = 0
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for dimension in range(0, 3):
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power += math.pow(vertex_2[dimension] - vertex_1[dimension], 2)
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distance = math.sqrt(power)
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if distance == 0:
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found = True
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break
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if not found:
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self._vertices.append(vertex_1)
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self._vertices = np.asarray(self._vertices)
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return self._vertices
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@property
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def faces(self) -> List[List[int]]:
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"""
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Get polygon triangular faces
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:return: [face]
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"""
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if self._faces is None:
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self._faces = []
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for polygon in self.triangles:
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face = []
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points = polygon.coordinates
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if len(points) != 3:
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sub_polygons = polygon.triangles
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# todo: I modified this! To be checked @Guille
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if len(sub_polygons) >= 1:
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for sub_polygon in sub_polygons:
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face = []
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points = sub_polygon.coordinates
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for point in points:
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face.append(self._position_of(point, face))
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self._faces.append(face)
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else:
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for point in points:
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face.append(self._position_of(point, face))
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self._faces.append(face)
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return self._faces
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def _position_of(self, point, face):
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"""
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position of a specific point in the list of points that define a face
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:return: int
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"""
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vertices = self.vertices
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for i in range(len(vertices)):
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# ensure not duplicated vertex
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power = 0
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vertex2 = vertices[i]
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for dimension in range(0, 3):
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power += math.pow(vertex2[dimension] - point[dimension], 2)
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distance = math.sqrt(power)
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if i not in face and distance == 0:
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return i
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return -1
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