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vis.py
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vis.py
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import skimage.measure
import trimesh
import open3d as o3d
import numpy as np
def marching_cubes(occupancy, level=0.5):
try:
vertices, faces, vertex_normals, _ = skimage.measure.marching_cubes( #marching_cubes_lewiner( #marching_cubes(
occupancy, level=level, gradient_direction='ascent')
except (RuntimeError, ValueError):
return None
dim = occupancy.shape[0]
vertices = vertices / (dim - 1)
mesh = trimesh.Trimesh(vertices=vertices,
vertex_normals=vertex_normals,
faces=faces)
return mesh
def trimesh_to_open3d(src):
dst = o3d.geometry.TriangleMesh()
dst.vertices = o3d.utility.Vector3dVector(src.vertices)
dst.triangles = o3d.utility.Vector3iVector(src.faces)
vertex_colors = src.visual.vertex_colors[:, :3].astype(np.float) / 255.0
dst.vertex_colors = o3d.utility.Vector3dVector(vertex_colors)
dst.compute_vertex_normals()
return dst