RealSenseVideo.py 文件源码

def makeMesh(self):
        if self.Xs.shape[2] == 0:
            return
        X = self.Xs[:, :, 0]
        Y = self.Ys[:, :, 0]
        Z = self.Zs[:, :, 0]
        mesh = PolyMesh()
        #Come up with vertex indices in the mask
        Mask = np.array(self.Mask, dtype=np.int32)
        nV = np.sum(Mask)
        Mask[self.Mask > 0] = np.arange(nV) + 1
        Mask = Mask - 1
        VPos = np.zeros((nV, 3))
        VPos[:, 0] = X[self.Mask > 0]
        VPos[:, 1] = Y[self.Mask > 0]
        VPos[:, 2] = -Z[self.Mask > 0]
        #Add lower right triangle
        v1 = Mask[0:-1, 0:-1].flatten()
        v2 = Mask[1:, 0:-1].flatten()
        v3 = Mask[1:, 1:].flatten()
        N = v1.size
        ITris1 = np.concatenate((np.reshape(v1, [N, 1]), np.reshape(v2, [N, 1]), np.reshape(v3, [N, 1])), 1)
        #Add upper right triangle
        v1 = Mask[0:-1, 0:-1].flatten()
        v2 = Mask[1:, 1:].flatten()
        v3 = Mask[0:-1, 1:].flatten()
        N = v1.size
        ITris2 = np.concatenate((np.reshape(v1, [N, 1]), np.reshape(v2, [N, 1]), np.reshape(v3, [N, 1])), 1)
        ITris = np.concatenate((ITris1, ITris2), 0)
        #Only retain triangles which have all three points
        ITris = ITris[np.sum(ITris == -1, 1) == 0, :]
        mesh.VPos = VPos
        mesh.ITris = ITris
        mesh.VColors = 0.5*np.ones(mesh.VPos.shape)
        mesh.updateNormalBuffer()
        mesh.VPosVBO = vbo.VBO(np.array(mesh.VPos, dtype=np.float32))
        mesh.VNormalsVBO = vbo.VBO(np.array(mesh.VNormals, dtype=np.float32))
        mesh.VColorsVBO = vbo.VBO(np.array(mesh.VColors, dtype=np.float32))
        mesh.IndexVBO = vbo.VBO(mesh.ITris, target=GL_ELEMENT_ARRAY_BUFFER)
        mesh.needsDisplayUpdate = False
        self.mesh = mesh

    #Compute the delta coordinates and solvers for all frames of the video