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