def render_color_mesh_func(self, fv_indices, tri_colors, tri_normals, vps,
camera_dict):
proj_pixels, z_vals, v_status = self.project_mesh_vps(vps, camera_dict)
tri_proj_pixels = (proj_pixels[fv_indices]).reshape(-1, 6) #[n_f, 6]
tri_z_vals = z_vals[fv_indices] #[n_f, 3]
tri_status = (v_status[fv_indices]).all(axis=1) #[n_f]
cam_w = camera_dict["CameraReso"][0]
cam_h = camera_dict["CameraReso"][1]
ex_mat = camera_dict["ExterMat"]
depth_img = np.ones((cam_h, cam_w), np.float32) * 100.0
rgb_img = np.zeros((cam_h, cam_w, 3), np.float32)
mask_img = np.zeros((cam_h, cam_w), np.int32)
w_light_dx = self.light_dire[0]
w_light_dy = self.light_dire[1]
w_light_dz = self.light_dire[2]
c_light_dx = ex_mat[0, 0] * w_light_dx + ex_mat[
0, 1] * w_light_dy + ex_mat[0, 2] * w_light_dz
c_light_dy = ex_mat[1, 0] * w_light_dx + ex_mat[
1, 1] * w_light_dy + ex_mat[1, 2] * w_light_dz
c_light_dz = ex_mat[2, 0] * w_light_dx + ex_mat[
2, 1] * w_light_dy + ex_mat[2, 2] * w_light_dz
ambient_strength = self.ambient_strength
light_strength = self.light_strength
RenderUtils.render_color_mesh(tri_normals, tri_colors, tri_proj_pixels,
tri_z_vals, tri_status, depth_img,
rgb_img, mask_img, c_light_dx,
c_light_dy, c_light_dz, ambient_strength,
light_strength)
depth_img[mask_img < 0.5] = 0.0
return rgb_img, depth_img, mask_img
