def get_3DSV(mesh):
from opendr.camera import ProjectPoints
from opendr.renderer import DepthRenderer
WIDTH, HEIGHT = 250, 250
camera = ProjectPoints(v=mesh.vertices,
f=np.array([WIDTH, WIDTH]),
c=np.array([WIDTH, HEIGHT]) / 2.,
t=np.array([0, 0, 2.5]),
rt=np.array([np.pi, 0, 0]),
k=np.zeros(5))
frustum = {'near': 1., 'far': 10., 'width': WIDTH, 'height': HEIGHT}
rn = DepthRenderer(camera=camera,
frustum=frustum,
f=mesh.faces,
overdraw=False)
points3d = camera.unproject_depth_image(rn.r)
points3d = points3d[points3d[:, :, 2] > np.min(points3d[:, :, 2]) + 0.01]
# print('sampled {} points.'.format(points3d.shape[0]))
return points3d
def get_3DSV(mesh):
from opendr.camera import ProjectPoints
from opendr.renderer import DepthRenderer
WIDTH, HEIGHT = 250, 250
rt = R.from_euler('xyz', [np.pi, 0, 0]).as_rotvec()
rt_mat = R.from_euler('xyz', [np.pi, 0, 0]).as_matrix()
camera = ProjectPoints(v=mesh.vertices, f=np.array([WIDTH, WIDTH]), c=np.array([WIDTH, HEIGHT]) / 2.,
t=np.array([0, 0, 3.0]), rt=rt, k=np.zeros(5))
frustum = {'near': 1., 'far': 10., 'width': WIDTH, 'height': HEIGHT}
rn = DepthRenderer(camera=camera, frustum=frustum, f=mesh.faces, overdraw=False)
# import cv2
depth_image = rn.depth_image.copy()
mask = depth_image < depth_image.max() - 0.01
depth_image[~mask] = 0
depth_image[mask] = 255 - (depth_image[mask] - depth_image[mask].min()) / (depth_image[mask].max() - depth_image[mask].min()) * 255
points3d = camera.unproject_depth_image(rn.r)
mask = points3d[:, :, 2] > np.min(points3d[:, :, 2]) + 0.01
points3d = points3d[mask]
return points3d, depth_image