pointcloud to grid.array

bdm_voxel_builder/grid/base.py

@@ -10,9 +10,10 @@
 from compas.geometry import Box, Pointcloud, Transformation, transform_points_numpy
 
 from bdm_voxel_builder import TEMP_DIR
-from bdm_voxel_builder.helpers.numpy import convert_array_to_pts
+from bdm_voxel_builder.helpers.numpy import convert_pointcloud_to_grid_array
 from bdm_voxel_builder.helpers.savepaths import get_savepath
 from bdm_voxel_builder.helpers.vdb import xform_to_compas, xform_to_vdb
+from bdm_voxel_builder.helpers.compas import pointcloud_from_ply
 
 
 class Grid:
@@ -163,3 +164,9 @@ def from_vdb(cls, grid: os.PathLike | vdb.GridBase, name: str = None):
             array=arr,
             xform=xform_to_compas(grid.transform),
         )
+
+    def array_from_ply(self, path: os.PathLike):
+        pointcloud = pointcloud_from_ply(path)
+        grid_array = convert_pointcloud_to_grid_array(pointcloud, tolerance_mm = 5)
+        return grid_array
+

bdm_voxel_builder/helpers/compas.py

@@ -1,6 +1,7 @@
 import numpy.typing as npt
 from compas.data import json_dump
 from compas.geometry import Pointcloud
+import os
 
 from bdm_voxel_builder import TEMP_DIR
 from bdm_voxel_builder.helpers.numpy import sort_pts_by_values
@@ -24,3 +25,9 @@ def save_pointcloud(
     dict_ = {"pointcloud": pointcloud, "values": values}
 
     json_dump(dict_, get_savepath(TEMP_DIR, ".json", note=note))
+
+def pointcloud_from_ply(
+    path: os.PathLike
+):
+    pointcloud = Pointcloud.from_ply(path)
+    return pointcloud

bdm_voxel_builder/helpers/numpy.py

@@ -37,6 +37,33 @@ def convert_array_to_pts(
 
     return np.vstack(coordinates).transpose()
 
+def convert_pointcloud_to_grid_array(pointcloud, unit_in_mm = 10):
+    pts = pointcloud.points
+    coordinate_array = np.asarray(pts) # array = [[x,y,z][x,y,z][x,y,z]]
+    index_array = np.floor_divide(coordinate_array, unit_in_mm)
+    index_array = np.int64(index_array)
+    # print(f'index array, floor divide:\n {index_array}')
+
+    maximums = np.amax(index_array, axis = 0)
+    minimums = np.amin(index_array, axis = 0)
+    # print(f'max:{maximums}, mins:{minimums}')
+
+    move_to_origin_vector = 0 - minimums
+    index_array += move_to_origin_vector
+    # print(f'index array, translated:\n {index_array}')
+
+    bounds = np.int64(maximums - minimums)
+    bounds += 1
+    # print(f'grid_size {bounds}')
+
+    grid_from_pointcloud = np.zeros(bounds)
+    for point in index_array:
+        x,y,z = point
+        # print(f'coord: {x,y,z}')
+        grid_from_pointcloud[x][y][z] = 1
+
+    # print(f'grid_from_pointcloud=\n{grid_from_pointcloud}')
+    return grid_from_pointcloud
 
 def save_ndarray(arr: npt.NDArray, note: str = None):
     np.save(get_savepath(TEMP_DIR, ".npy", note=note), arr)

bdm_voxel_builder/test.py

@@ -1,12 +1,19 @@
 import numpy as np
-
+from bdm_voxel_builder.grid import Grid
+from bdm_voxel_builder.helpers.numpy import convert_pointcloud_to_grid_array, convert_array_to_pts
+from compas.geometry import Pointcloud
+from bdm_voxel_builder.helpers.compas import pointcloud_from_ndarray
 print("hello, lets test this!\n")
-a = np.random.random(26) + 0.5
-for i in [1, 4, 3, 22, 5]:
-    a[i] = 0
 
-filled = np.nonzero(a)
-print(f"filled i = {filled}")
 
-v = np.int_(a)
-print(f"trunced ints: {v}")
+n = 5
+pt_array = np.random.random(n * 3).reshape([n,3]) * 1200 - 100
+# pt_array2 = np.transpose(pt_array)
+
+pts = pt_array.tolist()
+print(pt_array.shape)
+pointcloud = Pointcloud(pts)
+print(pointcloud)
+array = convert_pointcloud_to_grid_array(pointcloud, unit_in_mm = 10)
+print(array)
+