def _generate_trimesh_from_depth()

in tacto/renderer.py [0:0]

• 30 lines of code
• 2 McCabe index (conditional complexity)

    def _generate_trimesh_from_depth(self, depth):
        # Load config
        g = self.conf.sensor.gel
        origin = g.origin

        _, Y0, Z0 = origin[0], origin[1], origin[2]
        W, H = g.width, g.height

        N = depth.shape[1]
        M = depth.shape[0]

        # Create grid mesh
        vertices = []
        faces = []

        y = np.linspace(Y0 - W / 2, Y0 + W / 2, N)
        z = np.linspace(Z0 - H / 2, Z0 + H / 2, M)
        yy, zz = np.meshgrid(y, z)

        # Vertex format: [x, y, z]
        vertices = np.zeros([N * M, 3])

        # Add x, y, z position to vertex
        vertices[:, 0] = depth.reshape([-1])
        vertices[:, 1] = yy.reshape([-1])
        vertices[:, 2] = zz.reshape([-1])

        # Create faces

        faces = np.zeros([(N - 1) * (M - 1) * 6], dtype=np.uint)

        # calculate id for each vertex: (i, j) => i * m + j
        xid = np.arange(N)
        yid = np.arange(M)
        yyid, xxid = np.meshgrid(xid, yid)
        ids = yyid[:-1, :-1].reshape([-1]) + xxid[:-1, :-1].reshape([-1]) * N

        # create upper triangle
        faces[::6] = ids  # (i, j)
        faces[1::6] = ids + N  # (i+1, j)
        faces[2::6] = ids + 1  # (i, j+1)

        # create lower triangle
        faces[3::6] = ids + 1  # (i, j+1)
        faces[4::6] = ids + N  # (i+1, j)
        faces[5::6] = ids + N + 1  # (i+1, j+1)

        faces = faces.reshape([-1, 3])
        gel_trimesh = trimesh.Trimesh(vertices=vertices, faces=faces, process=False)

        return gel_trimesh