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import numpy
import trimesh
import trimesh.sample
import trimesh.visual
import trimesh.proximity
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)
uv = numpy.einsum('ntc,nt->nc', mesh.visual.uv[mesh.faces[face_idx]], bc)
rgba = trimesh.visual.uv_to_interpolated_color(uv, mesh.visual.material.image)
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 as_mesh(scene_or_mesh):
if isinstance(scene_or_mesh, trimesh.Scene):
meshes = [
trimesh.Trimesh(vertices=g.vertices, faces=g.faces)
for g in scene_or_mesh.geometry.values()
if isinstance(g, trimesh.Trimesh)
]
if not len(meshes):
return None
return trimesh.util.concatenate(meshes)
else:
assert isinstance(scene_or_mesh, trimesh.Trimesh)
return scene_or_mesh
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