This repository implements adaptive binary space partitioning: an ambient 3D space is recessively partitioned into non-overlapping convexes with pre-detected planar primitives. It is implemented initially for surface reconstruction, but can be extrapolated to other applications nevertheless.
An exact kernel of SageMath is used for robust Boolean spatial operations. This rational-based representation help avoid degenerate cases that may otherwise result in inconsistencies in the geometry.
All dependencies except for SageMath can be easily installed with PyPI:
pip install -r requirements.txtOptionally, install trimesh and pyglet for benchmarking and visualisation, respectively:
pip install trimesh pygletFor Linux and macOS users, the easist is to install from conda-forge:
conda config --add channels conda-forge
conda install sageAlternatively, you can use mamba for faster parsing and package installation:
conda config --add channels conda-forge
conda install mamba
mamba install sageFor Windows users, consider building SageMath from source or install all other dependencies into a pre-built SageMath environment.
pip install abspyHere is an example of loading a point cloud in VertexGroup (.vg), partitioning the ambient space into candidate convexes, creating the adjacency graph and extracting the outer surface of the object. For the data structure of a .vg file, please refer to VertexGroup.
import numpy as np
from abspy import VertexGroup, AdjacencyGraph, CellComplex
# load a point cloud in VertexGroup
vertex_group = VertexGroup(filepath='points.vg')
# normalise the point cloud
vertex_group.normalise_to_centroid_and_scale()
# retrieve planes, bounds and points from VertexGroup
planes, bounds, points = np.array(vertex_group.planes), np.array(vertex_group.bounds), np.array(vertex_group.points_grouped, dtype=object)
# additional planes to append (e.g., the bounding planes)
additional_planes = [[0, 0, 1, -bounds[:, 0, 2].min()]]
# initialise CellComplex from planar prititives
cell_complex = CellComplex(planes, bounds, points, build_graph=True, additional_planes=additional_planes)
# refine planar primitives
cell_complex.refine_planes()
# prioritise certain planes
cell_complex.prioritise_planes()
# construct CellComplex
cell_complex.construct()
# print info on the cell complex
cell_complex.print_info()
# visualise the cell complex (only if trimesh installation is found)
cell_complex.visualise()
# build adjacency graph of the cell complex
graph = AdjacencyGraph(cell_complex.graph)
# apply random weights (could instead be the predicted probability
# for each convex being selected as composing the object in practice)
weights_list = np.array([random.random() for _ in range(cell_complex.num_cells)])
weights_list *= cell_complex.volumes(multiplier=10e5)
weights_dict = graph.to_dict(weights_list)
# assign weights to n-links and st-links to the graph
graph.assign_weights_to_n_links(cell_complex.cells, attribute='area_overlap', factor=0.1, cache_interfaces=True)
graph.assign_weights_to_st_links(weights_dict)
# perform graph-cut
_, _ = graph.cut()
# save surface model to an obj file
graph.save_surface_obj('surface.obj', engine='rendering')If you use pyabsp in a scientific work, please cite:
@article{chen2021reconstructing,
title={Reconstructing Compact Building Models from Point Clouds Using Deep Implicit Fields},
author={Chen, Zhaiyu and Khademi, Seyran and Ledoux, Hugo and Nan, Liangliang},
journal={arXiv preprint arXiv:2112.13142},
year={2021}
}
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