Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

feat(object): enhance point cloud creation #1169

Merged
merged 1 commit into from
Dec 11, 2024
Merged

feat(object): enhance point cloud creation #1169

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
55 changes: 25 additions & 30 deletions blenderproc/python/types/MeshObjectUtility.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -609,7 +609,11 @@ def create_with_empty_mesh(object_name: str, mesh_name: str = None) -> "MeshObje
mesh_name = object_name
return create_from_blender_mesh(bpy.data.meshes.new(mesh_name), object_name)

def create_from_point_cloud(points: np.ndarray, object_name: str, add_geometry_nodes_visualization: bool = False) -> "MeshObject":
def create_from_point_cloud(points: np.ndarray,
object_name: str,
add_geometry_nodes_visualization: bool = False,
point_size: float = 0.015,
point_color: Tuple[float, float, float] = (1, 0, 0)) -> "MeshObject":
""" Create a mesh from a point cloud.

The mesh's vertices are filled with the points from the given point cloud.
Expand All @@ -619,44 +623,35 @@ def create_from_point_cloud(points: np.ndarray, object_name: str, add_geometry_n
:param add_geometry_nodes_visualization: If yes, a geometry nodes modifier is added,
which adds a sphere to every point. In this way,
the point cloud will appear in renderings.
:param point_size: The size of the spheres that are added to the points.
:param point_color: The color of the spheres that are added to the points.
:return: The new Mesh object.
"""
point_cloud = create_with_empty_mesh(object_name)

# Go into mesh edit mode
point_cloud.edit_mode()
bm = point_cloud.mesh_as_bmesh()

# Add a vertex for each point
for p, point in enumerate(points):
if not np.isnan(point).any():
bm.verts.new(point)
"""

# Persist the changes
point_cloud.update_from_bmesh(bm)
point_cloud.object_mode()
# Create point cloud object and fill it with the given points
point_cloud = create_with_empty_mesh(object_name)
point_cloud.get_mesh().from_pydata(points, [], [])
point_cloud.get_mesh().validate()

# If desired, add geometry nodes that add a icosphere instance to every point
if add_geometry_nodes_visualization:
# Make nodes
geometry_nodes = point_cloud.add_geometry_nodes()
# Collect all nodes
input_node = Utility.get_the_one_node_with_type(geometry_nodes.nodes, "NodeGroupInput")
output_node = Utility.get_the_one_node_with_type(geometry_nodes.nodes, "NodeGroupOutput")
instances_node = geometry_nodes.nodes.new("GeometryNodeInstanceOnPoints")
sphere_node = geometry_nodes.nodes.new("GeometryNodeMeshIcoSphere")
material_node = geometry_nodes.nodes.new("GeometryNodeSetMaterial")
mesh_to_points_node = geometry_nodes.nodes.new(type='GeometryNodeMeshToPoints')
mesh_to_points_node.inputs['Radius'].default_value = point_size

# Material setup
material_node = geometry_nodes.nodes.new("GeometryNodeSetMaterial")
mat = point_cloud.new_material("point_cloud_mat")
mat.set_principled_shader_value("Base Color", [1, 0, 0, 1])

# Link them
sphere_node.inputs["Radius"].default_value = 0.015
mat.set_principled_shader_value("Base Color", [*point_color, 1])
material_node.inputs["Material"].default_value = mat.blender_obj
geometry_nodes.links.new(input_node.outputs["Geometry"], instances_node.inputs["Points"])
geometry_nodes.links.new(sphere_node.outputs["Mesh"], instances_node.inputs["Instance"])
geometry_nodes.links.new(instances_node.outputs["Instances"], material_node.inputs["Geometry"])
geometry_nodes.links.new(material_node.outputs["Geometry"], output_node.inputs["Geometry"])


# Link nodes
input_node = Utility.get_the_one_node_with_type(geometry_nodes.nodes, "NodeGroupInput")
output_node = Utility.get_the_one_node_with_type(geometry_nodes.nodes, "NodeGroupOutput")
geometry_nodes.links.new(input_node.outputs['Geometry'], mesh_to_points_node.inputs['Mesh'])
geometry_nodes.links.new(mesh_to_points_node.outputs['Points'], material_node.inputs['Geometry'])
geometry_nodes.links.new(material_node.outputs['Geometry'], output_node.inputs['Geometry'])

return point_cloud

Expand Down