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Runtime error
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import numpy
import trimesh
import trimesh.sample
import trimesh.visual
import trimesh.proximity
import streamlit as st
import matplotlib.pyplot as plotlib
def get_bytes(x: str):
import io, requests
return io.BytesIO(requests.get(x).content)
def get_image(x: str):
try:
return plotlib.imread(get_bytes(x), 'auto')
except Exception:
raise ValueError("Invalid image", x)
def model_to_pc(mesh: trimesh.Trimesh, n_sample_points=10000):
f32 = numpy.float32
rad = numpy.sqrt(mesh.area / (3 * n_sample_points))
for _ in range(24):
pcd, face_idx = trimesh.sample.sample_surface_even(mesh, n_sample_points, rad)
rad *= 0.85
if len(pcd) == n_sample_points:
break
else:
raise ValueError("Bad geometry, cannot finish sampling.", mesh.area)
if isinstance(mesh.visual, trimesh.visual.ColorVisuals):
rgba = mesh.visual.face_colors[face_idx]
elif isinstance(mesh.visual, trimesh.visual.TextureVisuals):
bc = trimesh.proximity.points_to_barycentric(mesh.triangles[face_idx], pcd)
if mesh.visual.uv is None or len(mesh.visual.uv) < mesh.faces[face_idx].max():
uv = numpy.zeros([len(bc), 2])
st.warning("Invalid UV, filling with zeroes")
else:
uv = numpy.einsum('ntc,nt->nc', mesh.visual.uv[mesh.faces[face_idx]], bc)
material = mesh.visual.material
if hasattr(material, 'materials'):
if len(material.materials) == 0:
rgba = numpy.ones_like(pcd) * 0.8
texture = None
st.warning("Empty MultiMaterial found, falling back to light grey")
else:
material = material.materials[0]
if hasattr(material, 'image'):
texture = material.image
if texture is None:
rgba = numpy.zeros([len(uv), len(material.main_color)]) + material.main_color
elif hasattr(material, 'baseColorTexture'):
texture = material.baseColorTexture
if texture is None:
rgba = numpy.zeros([len(uv), len(material.main_color)]) + material.main_color
else:
texture = None
rgba = numpy.ones_like(pcd) * 0.8
st.warning("Unknown material, falling back to light grey")
if texture is not None:
rgba = trimesh.visual.uv_to_interpolated_color(uv, texture)
if rgba.max() > 1:
if rgba.max() > 255:
rgba = rgba.astype(f32) / rgba.max()
else:
rgba = rgba.astype(f32) / 255.0
return numpy.concatenate([numpy.array(pcd, f32), numpy.array(rgba, f32)[:, :3]], axis=-1)
def trimesh_to_pc(scene_or_mesh):
if isinstance(scene_or_mesh, trimesh.Scene):
meshes = []
for node_name in scene_or_mesh.graph.nodes_geometry:
# which geometry does this node refer to
transform, geometry_name = scene_or_mesh.graph[node_name]
# get the actual potential mesh instance
geometry = scene_or_mesh.geometry[geometry_name].copy()
if not hasattr(geometry, 'triangles'):
continue
geometry: trimesh.Trimesh
geometry = geometry.apply_transform(transform)
meshes.append(model_to_pc(geometry, 10000 // len(scene_or_mesh.geometry)))
if not len(meshes):
raise ValueError("Unsupported mesh object: no triangles found")
return numpy.concatenate(meshes)
else:
assert isinstance(scene_or_mesh, trimesh.Trimesh)
return model_to_pc(scene_or_mesh, 10000)
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