def write(self):
"""
Writes stable pose data for meshes in the input directory to an stp file.
path -- path to directory containing meshes to be converted to .stp
"""
min_prob_str = sys.argv[1]
min_prob = float(min_prob_str)
mesh_index = 1
mesh_files = [filename for filename in os.listdir(sys.argv[2]) if filename[-4:] == ".obj"]
for filename in mesh_files:
print "Writing file: " + sys.argv[2] + "/" + filename
ob = obj_file.ObjFile(sys.argv[2] + "/" + filename)
mesh = ob.read()
mesh.remove_unreferenced_vertices()
prob_mapping, cv_hull = st.compute_stable_poses(mesh), mesh.convex_hull()
R_list = []
for face, p in prob_mapping.items():
if p >= min_prob:
vertices = [cv_hull.vertices()[i] for i in face]
basis = st.compute_basis(vertices, cv_hull)
R_list.append([p, basis])
self.write_mesh_stable_poses(mesh, filename, min_prob)
def write(self):
"""
Writes stable pose data for meshes in the input directory to an stp file.
path -- path to directory containing meshes to be converted to .stp
"""
min_prob_str = sys.argv[1]
min_prob = float(min_prob_str)
mesh_index = 1
mesh_files = [filename for filename in os.listdir(sys.argv[2]) if filename[-4:] == ".obj"]
for filename in mesh_files:
print "Writing file: " + sys.argv[2] + "/" + filename
ob = obj_file.ObjFile(sys.argv[2] + "/" + filename)
mesh = ob.read()
mesh.remove_unreferenced_vertices()
prob_mapping, cv_hull = st.compute_stable_poses(mesh), mesh.convex_hull()
R_list = []
for face, p in prob_mapping.items():
if p >= min_prob:
vertices = [cv_hull.vertices()[i] for i in face]
basis = st.compute_basis(vertices)
R_list.append([p, basis])
self.write_mesh_stable_poses(mesh, filename, min_prob)
def write_mesh_stable_poses(self, mesh, filename, min_prob=0, vis=False):
prob_mapping, cv_hull = st.compute_stable_poses(mesh), mesh.convex_hull()
R_list = []
for face, p in prob_mapping.items():
if p >= min_prob:
x0 = np.array(cv_hull.vertices()[face[0]])
R_list.append([p, st.compute_basis([cv_hull.vertices()[i] for i in face], cv_hull), x0])
if vis:
print 'P', R_list[0][0]
mv.figure()
mesh.visualize()
mv.axes()
mv.figure()
cv_hull_tf = cv_hull.transform(stf.SimilarityTransform3D(tfx.transform(R_list[0][1], np.zeros(3))))
cv_hull_tf.visualize()
mv.axes()
mv.show()
f = open(filename[:-4] + ".stp", "w")
f.write("#############################################################\n")
f.write("# STP file generated by UC Berkeley Automation Sciences Lab #\n")
f.write("# #\n")
f.write("# Num Poses: %d" %len(R_list))
for _ in range(46 - len(str(len(R_list)))):
f.write(" ")
f.write(" #\n")
f.write("# Min Probability: %s" %str(min_prob))
for _ in range(40 - len(str(min_prob))):
f.write(" ")
f.write(" #\n")
f.write("# #\n")
f.write("#############################################################\n")
f.write("\n")
# adding R matrices to .stp file
pose_index = 1
for i in range(len(R_list)):
f.write("p %f\n" %R_list[i][0])
f.write("r %f %f %f\n" %(R_list[i][1][0][0], R_list[i][1][0][1], R_list[i][1][0][2]))
f.write(" %f %f %f\n" %(R_list[i][1][1][0], R_list[i][1][1][1], R_list[i][1][1][2]))
f.write(" %f %f %f\n" %(R_list[i][1][2][0], R_list[i][1][2][1], R_list[i][1][2][2]))
f.write("x0 %f %f %f\n" %(R_list[i][2][0], R_list[i][2][1], R_list[i][2][2]))
f.write("\n\n")
def write_mesh_stable_poses(self, mesh, filename, min_prob=0, vis=False):
prob_mapping, cv_hull = st.compute_stable_poses(mesh), mesh.convex_hull()
R_list = []
for face, p in prob_mapping.items():
if p >= min_prob:
R_list.append([p, st.compute_basis([cv_hull.vertices()[i] for i in face])])
if vis:
print 'P', R_list[0][0]
mv.figure()
mesh.visualize()
mv.axes()
mv.figure()
cv_hull_tf = cv_hull.transform(stf.SimilarityTransform3D(tfx.transform(R_list[0][1], np.zeros(3))))
cv_hull_tf.visualize()
mv.axes()
mv.show()
f = open(filename[:-4] + ".stp", "w")
f.write("#############################################################\n")
f.write("# STP file generated by UC Berkeley Automation Sciences Lab #\n")
f.write("# #\n")
f.write("# Num Poses: %d" %len(R_list))
for _ in range(46 - len(str(len(R_list)))):
f.write(" ")
f.write(" #\n")
f.write("# Min Probability: %s" %str(min_prob))
for _ in range(40 - len(str(min_prob))):
f.write(" ")
f.write(" #\n")
f.write("# #\n")
f.write("#############################################################\n")
f.write("\n")
# adding R matrices to .stp file
pose_index = 1
for i in range(len(R_list)):
f.write("p %f\n" %R_list[i][0])
f.write("r %f %f %f\n" %(R_list[i][1][0][0], R_list[i][1][0][1], R_list[i][1][0][2]))
f.write(" %f %f %f\n" %(R_list[i][1][1][0], R_list[i][1][1][1], R_list[i][1][1][2]))
f.write(" %f %f %f\n" %(R_list[i][1][2][0], R_list[i][1][2][1], R_list[i][1][2][2]))
f.write("\n\n")
