82 lines
2.5 KiB
Python
82 lines
2.5 KiB
Python
import trimesh
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from trimesh import intersections as inter
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import open3d as o3d
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import numpy as np
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def extract_points(segment_list):
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point_list = np.asarray(segment_list[0])
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for segment in segment_list:
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found = False
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for new_point in segment:
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for point in point_list:
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comparison = new_point == point
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if comparison.all():
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found = True
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break
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if not found:
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point_list = np.concatenate((point_list, [new_point]))
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return point_list
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def point_cloud_to_mesh(point_list, normal_list):
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pcd = o3d.geometry.PointCloud()
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pcd.points = o3d.utility.Vector3dVector(point_list)
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pcd.normals = o3d.utility.Vector3dVector(normal_list)
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distances = pcd.compute_nearest_neighbor_distance()
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avg_dist = np.mean(distances)
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radius = 3 * avg_dist
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bpa_mesh = o3d.geometry.TriangleMesh.create_from_point_cloud_ball_pivoting(
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pcd,
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o3d.utility.DoubleVector([radius, radius * 2]))
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mesh_result = trimesh.Trimesh(vertices=np.asarray(bpa_mesh.vertices), faces=np.asarray(bpa_mesh.triangles))
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return mesh_result
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def merge_meshes(mesh1, mesh2):
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v_1 = mesh1.vertices
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f_1 = mesh1.faces
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v_2 = mesh2.vertices
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f_2 = mesh2.faces
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length = len(v_1)
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v_merge = np.concatenate((v_1, v_2))
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f_merge = np.asarray(f_1)
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for item in f_2:
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point1 = item.item(0) + length
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point2 = item.item(1) + length
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point3 = item.item(2) + length
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surface = np.asarray([point1, point2, point3])
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f_merge = np.concatenate((f_merge, [surface]))
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mesh_merge = trimesh.Trimesh(vertices=v_merge, faces=f_merge)
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return mesh_merge
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# example
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vertices = [[0, 0, 0], [0, 0, 1], [0, 1, 0], [0, 1, 1], [1, 0, 0], [1, 0, 1], [1, 1, 0], [1, 1, 1]]
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faces = [[0, 1, 2], [1, 3, 2], [1, 5, 3], [5, 3, 7], [0, 4, 1], [4, 5, 1], [4, 6, 5], [5, 6, 7], [0, 2, 4], [2, 6, 4],
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[3, 7, 6], [2, 3, 6]]
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mesh = trimesh.Trimesh(vertices=vertices, faces=faces)
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normal_plane = [0, 0, 1]
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point_plane = [0, 0, 0.5]
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normal_plane_opp = [0, 0, -1]
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# Step 1: division and extraction of segments
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mesh_1 = inter.slice_mesh_plane(mesh, normal_plane, point_plane)
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mesh_1_segments = inter.mesh_plane(mesh, normal_plane, point_plane)
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# Step 2: create mesh from point cloud
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points = extract_points(mesh_1_segments)
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normals = np.empty((len(points), 3))
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for i in range(0, len(normals)):
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normals[i] = normal_plane_opp
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mesh_2 = point_cloud_to_mesh(points, normals)
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# Step 3: merge both meshes
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mesh_final = merge_meshes(mesh_1, mesh_2)
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print(mesh_final.vertices, mesh_final.faces)
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