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| import mesh2sdf.core | |
| import numpy as np | |
| import skimage.measure | |
| import trimesh | |
| def normalize_vertices(vertices, scale=0.9): | |
| bbmin, bbmax = vertices.min(0), vertices.max(0) | |
| center = (bbmin + bbmax) * 0.5 | |
| scale = 2.0 * scale / (bbmax - bbmin).max() | |
| vertices = (vertices - center) * scale | |
| return vertices, center, scale | |
| def export_to_watertight(normalized_mesh, octree_depth: int = 7): | |
| """ | |
| Convert the non-watertight mesh to watertight. | |
| Args: | |
| input_path (str): normalized path | |
| octree_depth (int): | |
| Returns: | |
| mesh(trimesh.Trimesh): watertight mesh | |
| """ | |
| size = 2 ** octree_depth | |
| level = 2 / size | |
| scaled_vertices, to_orig_center, to_orig_scale = normalize_vertices(normalized_mesh.vertices) | |
| sdf = mesh2sdf.core.compute(scaled_vertices, normalized_mesh.faces, size=size) | |
| vertices, faces, normals, _ = skimage.measure.marching_cubes(np.abs(sdf), level) | |
| # watertight mesh | |
| vertices = vertices / size * 2 - 1 # -1 to 1 | |
| vertices = vertices / to_orig_scale + to_orig_center | |
| # vertices = vertices / to_orig_scale + to_orig_center | |
| mesh = trimesh.Trimesh(vertices, faces, normals=normals) | |
| return mesh | |
| def process_mesh_to_pc(mesh_list, marching_cubes = False, sample_num = 4096): | |
| # mesh_list : list of trimesh | |
| pc_normal_list = [] | |
| return_mesh_list = [] | |
| for mesh in mesh_list: | |
| if marching_cubes: | |
| mesh = export_to_watertight(mesh) | |
| print("MC over!") | |
| return_mesh_list.append(mesh) | |
| points, face_idx = mesh.sample(sample_num, return_index=True) | |
| normals = mesh.face_normals[face_idx] | |
| pc_normal = np.concatenate([points, normals], axis=-1, dtype=np.float16) | |
| pc_normal_list.append(pc_normal) | |
| print("process mesh success") | |
| return pc_normal_list, return_mesh_list | |