def gen_pointcloud(points, rgbas=[[0, 0, 0, .7]], pntsize=3):
"""
do not use this raw function directly
use environment.collisionmodel to call it
gen objmnp
:param points: nx3 list
:param rgbas: None; Specify for each point; Specify a unified color
:return:
"""
pointcloud_nodepath = da.nodepath_from_points(points, rgbas)
pointcloud_nodepath.setRenderMode(RenderModeAttrib.MPoint, pntsize)
pointcloud_sgm = StaticGeometricModel(pointcloud_nodepath)
return pointcloud_sgm
def __init__(self,
initor=None,
name="defaultname",
btransparency=True,
btwosided=False):
"""
:param initor: path type defined by os.path or trimesh or nodepath
:param btransparency
:param name
"""
if isinstance(initor, StaticGeometricModel):
self._objpath = copy.deepcopy(initor.objpath)
self._objtrm = copy.deepcopy(initor.objtrm)
self._objpdnp = copy.deepcopy(initor.objpdnp)
self._name = copy.deepcopy(initor.name)
self._localframe = copy.deepcopy(initor.localframe)
else:
# make a grandma nodepath to separate decorations (-autoshader) and raw nodepath (+autoshader)
self._name = name
self._objpdnp = NodePath(name)
if isinstance(initor, str):
self._objpath = initor
self._objtrm = da.trm.load(self._objpath)
objpdnp_raw = da.trimesh_to_nodepath(self._objtrm,
name='pdnp_raw')
objpdnp_raw.reparentTo(self._objpdnp)
elif isinstance(initor, da.trm.Trimesh):
self._objpath = None
self._objtrm = initor
objpdnp_raw = da.trimesh_to_nodepath(self._objtrm)
objpdnp_raw.reparentTo(self._objpdnp)
elif isinstance(initor, o3d.geometry.PointCloud
): # TODO should pointcloud be pdnp or pdnp_raw
self._objpath = None
self._objtrm = da.trm.Trimesh(np.asarray(initor.points))
objpdnp_raw = da.nodepath_from_points(self._objtrm.vertices,
name='pdnp_raw')
objpdnp_raw.reparentTo(self._objpdnp)
elif isinstance(
initor,
np.ndarray): # TODO should pointcloud be pdnp or pdnp_raw
self._objpath = None
if initor.shape[1] == 3:
self._objtrm = da.trm.Trimesh(initor)
objpdnp_raw = da.nodepath_from_points(
self._objtrm.vertices)
elif initor.shape[1] == 7:
self._objtrm = da.trm.Trimesh(initor[:, :3])
objpdnp_raw = da.nodepath_from_points(
self._objtrm.vertices, initor[:, 3:].tolist())
objpdnp_raw.setRenderMode(RenderModeAttrib.MPoint, 3)
else:
# TODO depth UV?
raise NotImplementedError
objpdnp_raw.reparentTo(self._objpdnp)
elif isinstance(initor, o3d.geometry.TriangleMesh):
self._objpath = None
self._objtrm = da.trm.Trimesh(
vertices=initor.vertices,
faces=initor.triangles,
face_normals=initor.triangle_normals)
objpdnp_raw = da.trimesh_to_nodepath(self._objtrm,
name='pdnp_raw')
objpdnp_raw.reparentTo(self._objpdnp)
elif isinstance(initor, NodePath):
self._objpath = None
self._objtrm = None # TODO nodepath to trimesh?
objpdnp_raw = initor
objpdnp_raw.reparentTo(self._objpdnp)
else:
self._objpath = None
self._objtrm = None
objpdnp_raw = NodePath("pdnp_raw")
objpdnp_raw.reparentTo(self._objpdnp)
if btransparency:
self._objpdnp.setTransparency(TransparencyAttrib.MDual)
if btwosided:
self._objpdnp.getChild(0).setTwoSided(True)
self._localframe = None