def test_make2d():
a = numpy.empty(2, dtype=object)
a[:] = [numpy.array([0, 1, 2]), numpy.array([3, 4, 5])]
b = make2d(a)
assert b.shape == (2, 3)
assert (b == [[0, 1, 2], [3, 4, 5]]).all()
def readMesh_PLY(filename, output="soup"):
if (output != 'soup'):
raise Exception('Mesh types other than soup not yet supported')
# Read the actual file
# TODO This takes a long time, maybe try to replace with something faster of my own?
plydata = PlyData.read(filename)
# Read vertices
# If the mesh has more than three columns of vertex data, ignore the later columns
# (for instance, Stanford Mesh Repo meshes store intensity and confidence here)
nVerts = plydata['vertex'].count
verts = np.zeros((nVerts, 3))
verts[:, 0] = np.array(plydata['vertex'].data['x'])
verts[:, 1] = np.array(plydata['vertex'].data['y'])
verts[:, 2] = np.array(plydata['vertex'].data['z'])
# Read faces
faces = make2d(plydata['face'].data['vertex_indices'])
# Build a mesh from these vertices and faces
mesh = TriSoupMesh(verts, faces)
return mesh
def readMesh_PLY(filename, output="soup"):
if output != "soup":
raise Exception("Mesh types other than soup not yet supported")
# Read the actual file
# TODO This takes a long time, maybe try to replace with something faster of my own?
plydata = PlyData.read(filename)
# Read vertices
# If the mesh has more than three columns of vertex data, ignore the later columns
# (for instance, Stanford Mesh Repo meshes store intensity and confidence here)
nVerts = plydata["vertex"].count
verts = np.zeros((nVerts, 3))
verts[:, 0] = np.array(plydata["vertex"].data["x"])
verts[:, 1] = np.array(plydata["vertex"].data["y"])
verts[:, 2] = np.array(plydata["vertex"].data["z"])
# Read faces
faces = make2d(plydata["face"].data["vertex_indices"])
# Build a mesh from these vertices and faces
mesh = TriSoupMesh(verts, faces)
return mesh
def test_make2d():
a = numpy.empty(2, dtype=object)
a[:] = [numpy.array([0, 1, 2]), numpy.array([3, 4, 5])]
b = make2d(a)
assert b.shape == (2, 3)
assert (b == [[0, 1, 2], [3, 4, 5]]).all()
def load_shape(filename, load_triangles = False):
mesh = plyfile.PlyData.read(filename)
# convert vertices to numpy array
vertices = np.transpose(np.vstack((mesh['vertex']['x'],mesh['vertex']['y'],mesh['vertex']['z'])))
# get triangles
if load_triangles:
tridata = mesh['face'].data['vertex_indices']
triangles = plyfile.make2d(tridata)
return vertices, triangles
return vertices
def read_ply_pcl(filename):
plydata = plyfile.PlyData.read(filename)
v = np.vstack((plydata['vertex']['x'], plydata['vertex']['y'], plydata['vertex']['z'])).T
normals = np.vstack((plydata['vertex']['nx'], plydata['vertex']['ny'], plydata['vertex']['nz'])).T
values = plydata['vertex']['value'].T
confidence = plydata['vertex']['confidence'].T
ret = {
'v': v,
'confidence': confidence,
'normals': normals,
'value': values,
}
if 'face' in plydata:
ret['f'] = plyfile.make2d(plydata['face'].data['vertex_indices'])
return ret
def read_ply(path):
# Read ply dataformat file.
with open(path, 'rb') as f:
plydata = PlyData.read(f)
# Extract numpy arrays for vertices and faces.
x = plydata['vertex']['x']
y = plydata['vertex']['y']
z = plydata['vertex']['z']
vertices = np.stack((x, y, z), axis=1)
faces = make2d(plydata['face']['vertex_indices'])
faces = faces.astype(np.int64)
# Conver to torch tensors.
vertices = torch.FloatTensor(vertices)
faces = torch.LongTensor(faces)
return vertices, faces
filename = PINS.filename.get()
if filename.endswith(".zip"):
zipf = zipfile.ZipFile(filename)
assert len(zipf.namelist()) == 1
zply = zipf.open(zipf.namelist()[0])
plydata = PlyData.read(zply)
else:
plydata = PlyData.read(filename)
elements = {e.name: e for e in plydata.elements}
vertices = elements["vertex"].data
faces = elements["face"].data
#faces => indices + edges
indices = make2d(faces['vertex_indices']).astype(np.uint16)
assert indices.shape[1] == 3 #triangles only
edges = set()
for triangle in indices:
for p1, p2 in ((0, 1), (1, 2), (2, 0)):
i1, i2 = triangle[p1], triangle[p2]
if i2 < i1: i1, i2 = i2, i1
edges.add((i1, i2))
edges = np.array(list(edges), dtype=np.uint16)
#vertices => coordinates + normals
for n in range(len(vertices.dtype)):
assert vertices.dtype[n] == vertices.dtype[0]
vertices = vertices.view(vertices.dtype[0]).reshape(vertices.shape + (-1, ))
coordinates = vertices[:, :3]
normals = vertices[:, 3:6]
filename = PINS.filename.get()
if filename.endswith(".zip"):
zipf = zipfile.ZipFile(filename)
assert len(zipf.namelist()) == 1
zply = zipf.open(zipf.namelist()[0])
plydata = PlyData.read(zply)
else:
plydata = PlyData.read(filename)
elements = {e.name: e for e in plydata.elements}
vertices = elements["vertex"].data
faces = elements["face"].data
#faces => indices + edges
indices = make2d(faces['vertex_indices']).astype(np.uint16)
assert indices.shape[1] == 3 #triangles only
edges = set()
for triangle in indices:
for p1,p2 in ((0,1),(1,2),(2,0)):
i1, i2 = triangle[p1], triangle[p2]
if i2 < i1: i1,i2 = i2,i1
edges.add((i1,i2))
edges = np.array(list(edges),dtype=np.uint16)
#vertices => coordinates + normals
for n in range(len(vertices.dtype)):
assert vertices.dtype[n] == vertices.dtype[0]
vertices = vertices.view(vertices.dtype[0]).reshape(vertices.shape + (-1,))
coordinates = vertices[:,:3]
normals = vertices[:,3:6]
