def get_colored_mesh_from_pointcloud(player3d, img, cam):
player2d, depth = cam.project(player3d, dtype=np.int32)
colors = img[player2d[:, 1], player2d[:, 0]]
faces = mesh_utils.triangulate_depthmap_points(player2d, depth, depth_thresh=0.1)
ply_data = io.numpy_to_ply(player3d, colors*255)
return ply_data, faces
min_u, max_u = int(np.min(np.round(
uv[:, 0]))), int(np.max(np.round(uv[:, 0]))) + 1
min_v, max_v = int(np.min(np.round(
uv[:, 1]))), int(np.max(np.round(uv[:, 1]))) + 1
crop = img[min_v:max_v, min_u:max_u, :]
tmp = uv.copy()
tmp[:, 0] -= np.min(np.round(uv[:, 0]))
tmp[:, 1] -= np.min(np.round(uv[:, 1]))
uvs_atlas.append(tmp)
textures_atlas.append(crop)
frame_mesh_points = np.vstack((frame_mesh_points, _vertices))
frame_mesh_faces = np.vstack((frame_mesh_faces, _faces + cnt))
cnt += _vertices.shape[0]
atlas, final_uvs = misc_utils.pack_textures(textures_atlas,
uvs_atlas,
n_rows=1)
texture_name = join(db.path_to_dataset, 'scene3d',
'{0}.jpg'.format(basename))
cv2.imwrite(join(texture_name), atlas[:, :, (2, 1, 0)] * 255)
ply_out = io.numpy_to_ply(frame_mesh_points)
io.write_obj(
join(db.path_to_dataset, 'scene3d', '{0}.obj'.format(basename)),
ply_out, list(frame_mesh_faces), final_uvs, texture_name)
p0 = np.array([[cx, cy, cz]])
n0 = cam.get_direction()
origin = cam.get_position().T
n0[1] = 0.0
n0 /= np.linalg.norm(n0)
player_points2d = np.vstack((J, I)).T
p3 = cam.unproject(player_points2d, 0.5)
direction = p3.T - np.tile(origin, (p3.shape[1], 1))
direction /= np.tile(
np.linalg.norm(direction, axis=1)[:, np.newaxis], (1, 3))
billboard = geom_utils.ray_plane_intersection(origin, direction, p0,
n0)
billboard_2d, billboard_depth = cam.project(billboard,
dtype=np.float32)
depthmap[I, J] += billboard_depth
depthmap *= mask
z_buffer = np.zeros((db.shape[0], db.shape[1]))
z_buffer[y1:y2, x1:x2] = depthmap
I, J = (z_buffer > 0).nonzero()
player3d = cam.depthmap_to_pointcloud(z_buffer)
color3d = img[I, J, :]
ply_data = io.numpy_to_ply(player3d, color3d * 255)
io.write_ply(
join(db.path_to_dataset, 'players', 'meshes',
player_name + '.ply'), ply_data)