_open3d.py

import numpy as np
import open3d
import trimesh


def from_trimesh(trimesh_geometry):
    if isinstance(trimesh_geometry, trimesh.Trimesh):
        geometry = open3d.geometry.TriangleMesh()
        geometry.vertices = open3d.utility.Vector3dVector(
            trimesh_geometry.vertices
        )
        geometry.vertex_normals = open3d.utility.Vector3dVector(
            trimesh_geometry.vertex_normals
        )
        geometry.triangles = open3d.utility.Vector3iVector(
            trimesh_geometry.faces
        )
        geometry.textures = [
            open3d.geometry.Image(
                np.asarray(trimesh_geometry.visual.material.image)
            )
        ]
        geometry.triangle_uvs = open3d.utility.Vector2dVector(
            trimesh_geometry.visual.uv
        )
    else:
        raise ValueError
    return geometry