| import os | |
| import sys | |
| sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), '..', '..'))) | |
| import utils3d | |
| import numpy as np | |
| def run(): | |
| image_uv, image_mesh = utils3d.numpy.utils.image_mesh(128, 128) | |
| image_mesh = image_mesh.reshape(-1, 4) | |
| depth = np.ones((128, 128), dtype=float) * 2 | |
| depth[32:96, 32:96] = 1 | |
| depth = depth.reshape(-1) | |
| intrinsics = utils3d.numpy.transforms.intrinsics_from_fov(1.0, 128, 128) | |
| intrinsics = utils3d.numpy.transforms.normalize_intrinsics(intrinsics, 128, 128) | |
| extrinsics = utils3d.numpy.transforms.extrinsics_look_at([0, 0, 1], [0, 0, 0], [0, 1, 0]) | |
| pts = utils3d.numpy.transforms.unproject_cv(image_uv, depth, extrinsics, intrinsics) | |
| pts = pts.reshape(-1, 3) | |
| image_mesh = utils3d.numpy.mesh.triangulate(image_mesh, vertices=pts) | |
| utils3d.io.write_ply(os.path.join(os.path.dirname(__file__), '..', 'results_to_check', 'write_ply.ply'), pts, image_mesh) | |
| if __name__ == '__main__': | |
| run() | |