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Running on Zero
Running on Zero
File size: 2,293 Bytes
e340a84 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 | import os
import numpy as np
from .geometry import camera_geometry, collect_points
_CAMERA_COLORS = np.array(
[
[239, 68, 68, 255],
[14, 165, 233, 255],
[34, 197, 94, 255],
[245, 158, 11, 255],
],
dtype=np.uint8,
)
def _camera_mesh(center, corners, color):
import trimesh
vertices = np.vstack([center[None], corners]).astype(np.float32)
faces = np.array(
[
[0, 1, 2],
[0, 2, 3],
[0, 3, 4],
[0, 4, 1],
[1, 2, 3],
[1, 3, 4],
],
dtype=np.int64,
)
mesh = trimesh.Trimesh(vertices=vertices, faces=faces, process=False)
mesh.visual.face_colors = np.tile(color[None], (faces.shape[0], 1))
return mesh
def export_glb(
session_dir: str,
branch: str,
display_mode: str,
frame_index: int,
mask_sky: bool,
show_cameras: bool,
camera_scale: float,
max_points: int,
) -> str:
import trimesh
points, colors, _ = collect_points(
session_dir=session_dir,
branch=branch,
display_mode=display_mode,
frame_index=frame_index,
mask_sky=mask_sky,
max_points=max_points,
seed=13,
)
if len(points) == 0:
raise ValueError("No valid points to export")
scene = trimesh.Scene()
scene.add_geometry(trimesh.PointCloud(vertices=points, colors=colors))
if show_cameras:
_, frustums, _ = camera_geometry(
session_dir=session_dir,
display_mode=display_mode,
frame_index=frame_index,
camera_scale_ratio=camera_scale,
points_hint=points,
)
for idx, (center, corners) in enumerate(frustums):
scene.add_geometry(
_camera_mesh(center, corners, _CAMERA_COLORS[idx % len(_CAMERA_COLORS)])
)
export_dir = os.path.join(session_dir, "exports")
os.makedirs(export_dir, exist_ok=True)
branch_slug = branch.lower().replace(" + ", "_").replace(" ", "_")
mode_slug = display_mode.replace(" ", "_").lower()
filename = f"{branch_slug}_{mode_slug}_{frame_index:04d}_sky{int(mask_sky)}_cam{int(show_cameras)}.glb"
path = os.path.join(export_dir, filename)
scene.export(path)
return path
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