|
|
import numpy as np |
|
|
import trimesh |
|
|
import torch |
|
|
|
|
|
|
|
|
def normalize_scene(scene, rg=(-0.5, 0.5)): |
|
|
|
|
|
whole_center = scene.bounding_box.centroid |
|
|
scene.apply_translation(-whole_center) |
|
|
whole_scale = max(scene.bounding_box.extents) |
|
|
scene.apply_scale((rg[1]-rg[0]) / whole_scale) |
|
|
return scene |
|
|
|
|
|
def normalize_mesh(mesh, rg=(-1,1)): |
|
|
|
|
|
vmin = mesh.vertices.min(axis=0) |
|
|
vmax = mesh.vertices.max(axis=0) |
|
|
center = (vmin + vmax) / 2 |
|
|
scale = (vmax - vmin).max() |
|
|
mesh.vertices = (mesh.vertices - center) / scale * (rg[1] - rg[0]) + (rg[0] + rg[1]) / 2 |
|
|
|
|
|
def change_mesh_range(mesh, from_rg=(-1,1), to_rg=(-1,1)): |
|
|
mesh.vertices = (mesh.vertices - (from_rg[0] + from_rg[1]) / 2) / (from_rg[1] - from_rg[0]) * (to_rg[1] - to_rg[0]) + (to_rg[0] + to_rg[1]) / 2 |
|
|
return mesh |
|
|
|
|
|
def change_pcd_range(pcd, from_rg=(-1,1), to_rg=(-1,1)): |
|
|
pcd = (pcd - (from_rg[0] + from_rg[1]) / 2) / (from_rg[1] - from_rg[0]) * (to_rg[1] - to_rg[0]) + (to_rg[0] + to_rg[1]) / 2 |
|
|
return pcd |
|
|
|
|
|
def quantize_vertices(v, bins): |
|
|
return (v * bins).astype(np.int32) |
|
|
|
|
|
def sample_points(mesh, n): |
|
|
points, face_index = trimesh.sample.sample_surface(mesh, n) |
|
|
normals = mesh.face_normals[face_index] |
|
|
return points, normals |
|
|
|
|
|
def clear_mesh(mesh): |
|
|
mesh.update_faces(mesh.nondegenerate_faces(height=1.e-8)) |
|
|
mesh.remove_unreferenced_vertices() |
|
|
mesh.merge_vertices(digits_vertex=0) |
|
|
return mesh |
