Function write_lines_as_cylinders

utils/pc_util.py:272–294

Create lines represented as cylinders connecting pairs of 3D points Args: pcl: (N x 2 x 3 numpy array): N pairs of xyz pos filename: (string) filename for the output mesh (ply) file rad: radius for the cylinder res: number of sections used to create the cylinder

(pcl, filename, rad=0.005, res=64)

def write_lines_as_cylinders(pcl, filename, rad=0.005, res=64):
    """Create lines represented as cylinders connecting pairs of 3D points
    Args:
        pcl: (N x 2 x 3 numpy array): N pairs of xyz pos
        filename: (string) filename for the output mesh (ply) file
        rad: radius for the cylinder
        res: number of sections used to create the cylinder
    """
    scene = trimesh.scene.Scene()
    for src, tgt in pcl:
        # compute line
        vec = tgt - src
        M = trimesh.geometry.align_vectors([0, 0, 1], vec, False)
        vec = tgt - src  # compute again since align_vectors modifies vec in-place!
        M[:3, 3] = 0.5 * src + 0.5 * tgt
        height = np.sqrt(np.dot(vec, vec))
        scene.add_geometry(
            trimesh.creation.cylinder(
                radius=rad, height=height, sections=res, transform=M
            )
        )
    mesh_list = trimesh.util.concatenate(scene.dump())
    trimesh.io.export.export_mesh(mesh_list, "%s.ply" % (filename), file_type="ply")