Function create_o3d_plane_mesh

plib/render.py:739–791

Create an o3d mesh representing a plane. The mesh contains two triangles. Args: top_left: the top left coordinate of the plane top_right: the top right coordinate of the plane bottom_left: the bottom left coordinate of the pla

(
        top_left: T.List[float],  # (3,)
        top_right: T.List[float],  # (3,)
        bottom_left: T.List[float],  # (3,)
        bottom_right: T.Optional[T.List[float]] = None,  # (3,)
)

def create_o3d_plane_mesh(
        top_left: T.List[float],  # (3,)
        top_right: T.List[float],  # (3,)
        bottom_left: T.List[float],  # (3,)
        bottom_right: T.Optional[T.List[float]] = None,  # (3,)
) -> o3d.geometry.TriangleMesh:
    """
    Create an o3d mesh representing a plane.
    The mesh contains two triangles.

    Args:
        top_left:
            the top left coordinate of the plane
        top_right:
            the top right coordinate of the plane
        bottom_left:
            the bottom left coordinate of the plane
        bottom_right:
            the bottom right coordinate of the plane.
            If None, will assumed to be a parallelgram

    Returns:
        o3d mesh
    """
    if isinstance(top_left, list):
        top_left = np.array(top_left, dtype=np.float64)
    if isinstance(top_right, list):
        top_right = np.array(top_right, dtype=np.float64)
    if isinstance(bottom_left, list):
        bottom_left = np.array(bottom_left, dtype=np.float64)
    if isinstance(bottom_right, list):
        bottom_right = np.array(bottom_right, dtype=np.float64)

    if bottom_right is None:
        bottom_right = top_right + (bottom_left - top_left)

    mesh = o3d.geometry.TriangleMesh()
    np_vertices = np.stack(
        [
            top_left,
            top_right,
            bottom_left,
            bottom_right,
        ], axis=0)  # (4, 3)
    np_triangles = np.array(
        [
            [0, 2, 1],
            [1, 2, 3],
        ]).astype(np.int32)
    mesh.vertices = o3d.utility.Vector3dVector(np_vertices)
    mesh.triangles = o3d.utility.Vector3iVector(np_triangles)

    return mesh


def create_video(