Open3Dでテクスチャマッピング

import open3d as o3d
import numpy as np
import cv2
from copy import deepcopy


def main():

    img = cv2.imread('lenna.bmp')
    img = deepcopy(img[:, :, ::-1])

    vert = [[-1, 1, 0], [-1, -1, 0], [1, 1, 0], [1, -1, 0]]
    faces = [[0, 1, 2], [1, 3, 2]]
    uvs = np.array([[0, 0], [0, 1], [1, 0], [0, 1], [1, 1], [1, 0]])

    obj = o3d.geometry.TriangleMesh(o3d.utility.Vector3dVector(vert),
                                    o3d.utility.Vector3iVector(faces))
    obj.triangle_uvs = o3d.utility.Vector2dVector(uvs)
    obj.textures = [o3d.geometry.Image(img)]
    obj.triangle_material_ids = o3d.utility.IntVector([0] * len(faces))

    obj.compute_vertex_normals()
    o3d.visualization.draw_geometries([obj])


if __name__ == '__main__':
    main()

n_rows = 6
vertices = []
for y in range(n_rows):
    for x in range(n_rows):
        vertices.append([x - 2.5, 2.5 - y, 0])

uv_unit = 0.2
faces = []
uvs = []
for y in range(n_rows - 1):
    for x in range(n_rows - 1):
        faces.extend([[y * 6 + x, (y + 1) * 6 + x, y * 6 + x + 1],
                      [y * 6 + x + 1, (y + 1) * 6 + x, (y + 1) * 6 + x + 1]])
        uvs.extend([[x * uv_unit, y * uv_unit], [x * uv_unit, (y + 1) * uv_unit],
                    [(x + 1) * uv_unit, y * uv_unit], [(x + 1) * uv_unit, y * uv_unit],
                    [x * uv_unit, (y + 1) * uv_unit], [(x + 1) * uv_unit, (y + 1) * uv_unit]])