Function plan_path_e2e

inpaint/utils.py:341–436

(mesh, cc, end_pts, global_mesh, input_edge, mask, valid_map, inpaint_id, npath_map=None, fpath_map=None)

    return fpath_map, npath_map, False, npaths, fpaths, invalid_edge_ids

def plan_path_e2e(mesh, cc, end_pts, global_mesh, input_edge, mask, valid_map, inpaint_id, npath_map=None, fpath_map=None):
    my_npath_map = np.zeros_like(input_edge) - 1
    my_fpath_map = np.zeros_like(input_edge) - 1
    sub_mesh = mesh.subgraph(list(cc)).copy()
    ends_1, ends_2 = end_pts[0], end_pts[1]
    edge_id = global_mesh.nodes[ends_1]['edge_id']
    npath = [*netx.shortest_path(sub_mesh, (ends_1[0], ends_1[1]), (ends_2[0], ends_2[1]), weight='length')]
    for np_node in npath:
        my_npath_map[np_node[0], np_node[1]] = edge_id
    fpath = []
    if global_mesh.nodes[ends_1].get('far') is None:
        print("None far")
    else:
        fnodes = global_mesh.nodes[ends_1].get('far')
        dmask = mask + 0
        while True:
            dmask = cv2.dilate(dmask, np.ones((3, 3)), iterations=1)
            ffnode = [fnode for fnode in fnodes if (dmask[fnode[0], fnode[1]] > 0 and mask[fnode[0], fnode[1]] == 0 and\
                                                            global_mesh.nodes[fnode].get('inpaint_id') != inpaint_id + 1)]
            if len(ffnode) > 0:
                fnode = ffnode[0]
                break
        e_fnodes = global_mesh.nodes[ends_2].get('far')
        dmask = mask + 0
        while True:
            dmask = cv2.dilate(dmask, np.ones((3, 3)), iterations=1)
            e_ffnode = [e_fnode for e_fnode in e_fnodes if (dmask[e_fnode[0], e_fnode[1]] > 0 and mask[e_fnode[0], e_fnode[1]] == 0 and\
                                                            global_mesh.nodes[e_fnode].get('inpaint_id') != inpaint_id + 1)]
            if len(e_ffnode) > 0:
                e_fnode = e_ffnode[0]
                break            
        fpath.append((fnode[0], fnode[1]))
        if len(e_ffnode) == 0 or len(ffnode) == 0:
            return my_npath_map, my_fpath_map, [], []
        barrel_dir = np.array([[1, 0], [1, 1], [0, 1], [-1, 1], [-1, 0], [-1, -1], [0, -1], [1, -1]])
        n2f_dir = (int(fnode[0] - npath[0][0]), int(fnode[1] - npath[0][1]))
        while True:
            if barrel_dir[0, 0] == n2f_dir[0] and barrel_dir[0, 1] == n2f_dir[1]:
                n2f_barrel = barrel_dir.copy()
                break
            barrel_dir = np.roll(barrel_dir, 1, axis=0)
        for step in range(0, len(npath)):
            if step == 0:
                continue
            elif step == 1:
                next_dir = (npath[step][0] - npath[step - 1][0], npath[step][1] - npath[step - 1][1])
                while True:
                    if barrel_dir[0, 0] == next_dir[0] and barrel_dir[0, 1] == next_dir[1]:
                        next_barrel = barrel_dir.copy()
                        break
                    barrel_dir = np.roll(barrel_dir, 1, axis=0)
                barrel_pair = np.stack((n2f_barrel, next_barrel), axis=0)
                n2f_dir = (barrel_pair[0, 0, 0], barrel_pair[0, 0, 1])
            elif step > 1:
                next_dir = (npath[step][0] - npath[step - 1][0], npath[step][1] - npath[step - 1][1])
                while True:
                    if barrel_pair[1, 0, 0] == next_dir[0] and barrel_pair[1, 0, 1] == next_dir[1]:
                        next_barrel = barrel_pair.copy()