def main():
points = list(pcd.read('david2/pcd/david2_1317518872.840330800.pcd'))
sk = Skeleton(boneData())
skBones = sk.Bones()
segments = dict((key,[]) for key in skBones.keys()) # setup
for p in points:
minDist = 1e20 # big
bestBone = 'T' # torso by default
for bName,bone in skBones.iteritems(): # for all bones
src,dst = bone
boneDir = subtract(dst, src)
offset = subtract(p, src)
dist = crossNormSqr(boneDir,offset)/dot(offset,offset)
if dist < minDist:
minDist = dist
bestBone = bName
if sqrt(minDist) < 10:
segments[bestBone].append(p)
f = open('segmented.obj', 'w')
for segName,points in segments.iteritems():
print segName, len(points)
if segName in ('LE2H', 'RE2H', 'LK2F', 'RK2F'):
color = (1,0,0)
elif segName in ('LS2E', 'RS2E', 'LH2K', 'RH2K'):
color = (0,1,0)
elif segName == 'T':
color = (0,0,1)
elif segName == 'N2H':
color = (0,1,1)
for p in points:
col = blend(p[3:], color, 0.25) # tint
f.write('v %f %f %f %f %f %f\n'%(p[0],p[1],p[2],col[0],col[1],col[2]))
def main():
assert len(sys.argv) >= 4
pcdFile = sys.argv[1]
yamlFile = sys.argv[2]
outputFile = sys.argv[3]
if len(sys.argv) == 5:
offset = float(sys.argv[4])/2 # for displaying several together, non overlapping
else:
offset = 0
assert pcdFile.endswith('pcd')
assert yamlFile.endswith('yaml')
assert outputFile.endswith('obj')
weightFile = 'temp-weights'
cmd = '../segmentation/build/sharpSegmentation %s %s %s'%(pcdFile,yamlFile,weightFile)
assert os.system(cmd) == 0
skel = Skeleton.fromFunnyYaml(yamlFile, relative=False)
# save it so that they all use the same skel
canonFile = 'canon.pickle'
if os.path.exists(canonFile):
canon = pickle.load(open(canonFile,'r'))
else:
canon = skel.Duplicate()
canon.Canonicalize()
#canon.sk = None #safe?
pickle.dump(canon, open(canonFile,'w'))
points = list(pcd.read(pcdFile))
weights = ReadWeights(weightFile)
I = ((1,0,0),(0,1,0),(0,0,1))
newPoints = [[offset,0,0,r,g,b] for (_,_,_,r,g,b) in points]
if True: # the right code
for jointName,skin in weights.iteritems():
src = Frame(skel.GetRot(jointName), skel.GetPos(jointName))
dst = Frame(I, canon.GetPos(jointName))
print jointName,src.o,dst.o
for index,weight in skin:
plusEq(newPoints[index], mult(absolute(dst, relative(src, points[index])), weight))
else: # tesing code
j = 0
for jointName,skin in weights.iteritems():
src = Frame(skel.GetRot(jointName), skel.GetPos(jointName))
dst = Frame(I, canon.GetPos(jointName))
print jointName,src.o,dst.o
for index,weight in skin:
plusEq(newPoints[index], relative(src, points[index]))
plusEq(newPoints[index], (j,0,0))
j += 0.5
f = open(outputFile, 'w')
for row in newPoints:
if row[0] == row[0]:
f.write('v %f %f %f %f %f %f\n'%tuple(row))
f.close()
print 'output to',outputFile
def main():
assert len(sys.argv) >= 4
pcdFile = sys.argv[1]
yamlFile = sys.argv[2]
outputFile = sys.argv[3]
if len(sys.argv) == 5:
offset = float(
sys.argv[4]
) / 2 # for displaying several together, non overlapping
else:
offset = 0
assert pcdFile.endswith('pcd')
assert yamlFile.endswith('yaml')
assert outputFile.endswith('obj')
weightFile = 'temp-weights'
cmd = '../segmentation/build/sharpSegmentation %s %s %s' % (
pcdFile, yamlFile, weightFile)
assert os.system(cmd) == 0
skel = Skeleton.fromFunnyYaml(yamlFile, relative=False)
# save it so that they all use the same skel
canonFile = 'canon.pickle'
if os.path.exists(canonFile):
canon = pickle.load(open(canonFile, 'r'))
else:
canon = skel.Duplicate()
canon.Canonicalize()
#canon.sk = None #safe?
pickle.dump(canon, open(canonFile, 'w'))
points = list(pcd.read(pcdFile))
weights = ReadWeights(weightFile)
I = ((1, 0, 0), (0, 1, 0), (0, 0, 1))
newPoints = [[offset, 0, 0, r, g, b] for (_, _, _, r, g, b) in points]
if True: # the right code
for jointName, skin in weights.iteritems():
src = Frame(skel.GetRot(jointName), skel.GetPos(jointName))
dst = Frame(I, canon.GetPos(jointName))
print jointName, src.o, dst.o
for index, weight in skin:
plusEq(
newPoints[index],
mult(absolute(dst, relative(src, points[index])), weight))
else: # tesing code
j = 0
for jointName, skin in weights.iteritems():
src = Frame(skel.GetRot(jointName), skel.GetPos(jointName))
dst = Frame(I, canon.GetPos(jointName))
print jointName, src.o, dst.o
for index, weight in skin:
plusEq(newPoints[index], relative(src, points[index]))
plusEq(newPoints[index], (j, 0, 0))
j += 0.5
f = open(outputFile, 'w')
for row in newPoints:
if row[0] == row[0]:
f.write('v %f %f %f %f %f %f\n' % tuple(row))
f.close()
print 'output to', outputFile
