Given a 3D mesh and a set of query points, return closest point barycentrics Args: query_points: np.array (float) [Q, 3] query points mesh_verts: np.array (float) [N, 3] mesh vertices mesh_faces: np.array (int) [N, 3] mesh triangle indices Retu
(query_points, mesh_verts, mesh_faces)
| 7 | |
| 8 | |
| 9 | def closest_point_barycentrics(query_points, mesh_verts, mesh_faces): |
| 10 | """Given a 3D mesh and a set of query points, return closest point barycentrics |
| 11 | Args: |
| 12 | query_points: np.array (float) |
| 13 | [Q, 3] query points |
| 14 | mesh_verts: np.array (float) |
| 15 | [N, 3] mesh vertices |
| 16 | mesh_faces: np.array (int) |
| 17 | [N, 3] mesh triangle indices |
| 18 | Returns: |
| 19 | Tuple[closest_points, barys, vertex_idxs, face_idxs] |
| 20 | closest_points: [Q, 3] approximated (closest) points on the mesh |
| 21 | barys: [Q, 3] barycentric weights that produce "approx" |
| 22 | vertex_idxs: [Q, 3] vertex indices for barycentric interpolation |
| 23 | face_idxs: [Q] face indices for barycentric interpolation. vertex_idxs = mesh_faces[face_idxs] |
| 24 | """ |
| 25 | sqr_distances, face_idxs, closest_points = igl.point_mesh_squared_distance(query_points, mesh_verts, mesh_faces) |
| 26 | |
| 27 | # if filtering: |
| 28 | # valid_q_idx = np.where(np.sqrt(sqr_distances) < filter_dis_thres)[0] |
| 29 | # p = p[valid_q_idx] |
| 30 | # face_idxs = face_idxs[valid_q_idx] |
| 31 | # else: |
| 32 | # valid_q_idx = np.arange(p.shape[0]) |
| 33 | |
| 34 | |
| 35 | vertex_idxs = mesh_faces[face_idxs] |
| 36 | face_v0 = mesh_verts[vertex_idxs[:, 0]] |
| 37 | face_v1 = mesh_verts[vertex_idxs[:, 1]] |
| 38 | face_v2 = mesh_verts[vertex_idxs[:, 2]] |
| 39 | |
| 40 | barys = igl.barycentric_coordinates_tri(closest_points, face_v0, face_v1, face_v2) |
| 41 | |
| 42 | # #sanity check |
| 43 | # b0, b1, b2 = np.split(barys, 3, axis=1) |
| 44 | # approx = b0 * face_v0 + b1 * face_v1 + b2 * face_v2 |
| 45 | # diff = closest_points-approx |
| 46 | # print("max diff",np.max(diff)) |
| 47 | |
| 48 | return closest_points, barys, vertex_idxs, face_idxs |
| 49 | |
| 50 | |
| 51 | def compute_vertex_tbn(vertex_pos, vertex_uv, faces, eps=1e-5): |
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