| 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 |
