def load_meshes(self, url):
"""Load meshes from the given URL in the ROS file server.
A single mesh url can contain multiple meshes depending on the format.
Parameters
----------
url : str
Mesh URL
Returns
-------
list[:class:`compas.datastructures.Mesh`]
List of meshes.
"""
use_local_file = False
file_extension = _get_file_format(url)
if self.local_cache_enabled:
local_filename = self._local_mesh_filename(url)
use_local_file = _cache_file_exists(local_filename)
else:
_, local_filename = tempfile.mkstemp(suffix='.' + file_extension, prefix='ros_fileserver_')
if not use_local_file:
service = roslibpy.Service(self.ros, '/file_server/get_file', 'file_server/GetBinaryFile')
request = roslibpy.ServiceRequest(dict(name=url))
response = service.call(request, timeout=TIMEOUT)
file_content = binascii.a2b_base64(response.data['value'])
# Just look away, we're about to do something nasty!
# namespaces are handled differently between the CLI and CPython
# XML parsers, so, we just get rid of it for DAE files
if file_extension == 'dae':
file_content = file_content.replace(b'xmlns="http://www.collada.org/2005/11/COLLADASchema"', b'')
file_content = file_content.replace(b'xmlns="https://www.collada.org/2005/11/COLLADASchema"', b'')
# compas.files does not support file-like objects so we need to
# save the file to disk always. If local caching is enabled,
# we store it in the cache folder, otherwise, as a temp file.
_write_file(local_filename, file_content, 'wb')
else:
# Nothing to do here, the file will be read by the mesh importer
LOGGER.debug('Loading mesh file %s from local cache dir', local_filename)
return _fileserver_mesh_import(url, local_filename, self.precision)
def _mesh_import(url, filename):
"""Internal function to load meshes using the correct loader.
Name and file might be the same but not always, e.g. temp files."""
file_extension = _get_file_format(url)
if file_extension not in SUPPORTED_FORMATS:
raise NotImplementedError(
'Mesh type not supported: {}'.format(file_extension))
print(filename)
if file_extension == "dae": # no dae support yet
#mesh = Mesh.from_dae(filename)
obj_filename = filename.replace(".dae", ".obj")
if os.path.isfile(obj_filename):
mesh = Mesh.from_obj(obj_filename)
# former DAE files have yaxis and zaxis swapped
# TODO: already fix in conversion to obj
frame = Frame([0,0,0], [1,0,0], [0,0,1])
T = Transformation.from_frame(frame)
mesh_transform(mesh, T)
return mesh
else:
raise FileNotFoundError("Please convert '%s' into an OBJ file, \
since DAE is currently not supported \
yet." % filename)
if file_extension == 'obj':
return Mesh.from_obj(filename)
elif file_extension == 'stl':
return Mesh.from_stl(filename)
elif file_extension == 'ply':
return Mesh.from_ply(filename)
raise Exception