def pandageom_from_points(vertices, rgba_list=None, name=''):
"""
pack the vertices into a panda3d point cloud geom
:param vertices:
:param rgba_list: a list with a single 1x4 nparray or with len(vertices) 1x4 nparray
:param name:
:return:
author: weiwei
date: 20170328, 20210116
"""
if rgba_list is None:
# default
vertex_rgbas = np.array([[0, 0, 0, 255]] * len(vertices),
dtype=np.uint8)
elif type(rgba_list) is not list:
raise Exception('rgba\_list must be a list!')
elif len(rgba_list) == 1:
vertex_rgbas = np.tile((np.array(rgba_list[0]) * 255).astype(np.uint8),
(len(vertices), 1))
elif len(rgba_list) == len(vertices):
vertex_rgbas = (np.array(rgba_list) * 255).astype(np.uint8)
else:
raise ValueError(
'rgba_list must be a list of one or len(vertices) 1x4 nparray!')
vertformat = GeomVertexFormat()
arrayformat = GeomVertexArrayFormat()
arrayformat.addColumn(InternalName.getVertex(), 3, GeomEnums.NTFloat32,
GeomEnums.CPoint)
vertformat.addArray(arrayformat)
arrayformat = GeomVertexArrayFormat()
arrayformat.addColumn(InternalName.getColor(), 4, GeomEnums.NTUint8,
GeomEnums.CColor)
vertformat.addArray(arrayformat)
vertformat = GeomVertexFormat.registerFormat(vertformat)
vertexdata = GeomVertexData(name, vertformat, Geom.UHStatic)
vertexdata.modifyArrayHandle(0).copyDataFrom(
np.ascontiguousarray(vertices, dtype=np.float32))
vertexdata.modifyArrayHandle(1).copyDataFrom(vertex_rgbas)
primitive = GeomPoints(Geom.UHStatic)
primitive.setIndexType(GeomEnums.NTUint32)
primitive.modifyVertices(-1).modifyHandle().copyDataFrom(
np.arange(len(vertices), dtype=np.uint32))
geom = Geom(vertexdata)
geom.addPrimitive(primitive)
return geom
def pandageom_from_points(vertices, rgba=None, name=''):
"""
pack the vertices into a panda3d point cloud geom
:param vertices:
:param rgba: rgba color for each vertex, can be list or nparray (rgb is also acceptable)
:param name:
:return:
author: weiwei
date: 20170328, 20210116, 20220721
"""
if rgba is None:
# default
vertex_rgbas = np.asarray([[0, 0, 0, 255]] * len(vertices),
dtype=np.uint8)
if isinstance(rgba, list):
rgba = np.array(rgba)
if not isinstance(rgba, np.array):
raise ValueError('rgba must be a list or an nparray!')
if len(rgba) == 1:
vertex_rgbas = np.tile((rgba * 255).astype(np.uint8),
(len(vertices), 1))
elif len(rgba) == len(vertices):
vertex_rgbas = (rgba * 255).astype(np.uint8)
n_color_bit = rgba.shape[1]
vertformat = GeomVertexFormat()
arrayformat = GeomVertexArrayFormat()
arrayformat.addColumn(InternalName.getVertex(), 3, GeomEnums.NTFloat32,
GeomEnums.CPoint)
vertformat.addArray(arrayformat)
arrayformat = GeomVertexArrayFormat()
arrayformat.addColumn(InternalName.getColor(), n_color_bit,
GeomEnums.NTUint8, GeomEnums.CColor)
vertformat.addArray(arrayformat)
vertformat = GeomVertexFormat.registerFormat(vertformat)
vertexdata = GeomVertexData(name, vertformat, Geom.UHStatic)
vertexdata.modifyArrayHandle(0).copyDataFrom(
np.ascontiguousarray(vertices, dtype=np.float32))
vertexdata.modifyArrayHandle(1).copyDataFrom(vertex_rgbas)
primitive = GeomPoints(Geom.UHStatic)
primitive.setIndexType(GeomEnums.NTUint32)
primitive.modifyVertices(-1).modifyHandle().copyDataFrom(
np.arange(len(vertices), dtype=np.uint32))
geom = Geom(vertexdata)
geom.addPrimitive(primitive)
return geom
