def _overlay_image(self):
for node in self.scene.get_nodes():
if node.name == 'body_mesh':
self.scene.remove_node(node)
break
rectified_orient = self.model.global_orient.detach().clone()
rectified_orient[0][0] += np.pi
model_obj = self.model(global_orient=rectified_orient)
out_mesh = Trimesh(model_obj.vertices.detach().numpy().squeeze(),
self.model.faces.squeeze())
rot = trimesh.transformations.rotation_matrix(np.radians(180),
[1, 0, 0])
out_mesh.apply_transform(rot)
mesh = Mesh.from_trimesh(out_mesh, material=self.material)
self.scene.add(mesh, name='body_mesh')
rendered, _ = self.renderer.render(self.scene)
if self.base_img is not None:
img = self.base_img.copy()
else:
img = np.uint8(rendered)
img_mask = (rendered != 255.0).sum(axis=2) == 3
img[img_mask] = rendered[img_mask].astype(np.uint8)
img = np.concatenate(
(img, img_mask[:, :, np.newaxis].astype(np.uint8)), axis=2)
return img
def _to_unit_cube(mesh: trimesh.Trimesh):
bounds = mesh.extents
if bounds.min() == 0.0:
return
# translate to origin
translation = (mesh.bounds[0] + mesh.bounds[1]) * 0.5
translation = trimesh.transformations.translation_matrix(direction=-translation)
mesh.apply_transform(translation)
# scale to unit cube
scale = 1.0/bounds.max()
scale_trafo = trimesh.transformations.scale_matrix(factor=scale)
mesh.apply_transform(scale_trafo)
return mesh