def read(self):
'''
Read in the vertex, normal, and face lists to form a mesh.
Technically this should also read in a texture but right now we don't support it
'''
numVerts = 0
verts = []
norms = None
faces = []
tex_coords = []
face_norms = []
f = open(self.filepath_, 'r')
for line in f:
# break up the line by whitespace
vals = line.split()
if len(vals) > 0:
# look for obj tags (see http://en.wikipedia.org/wiki/Wavefront_.obj_file)
if vals[0] == 'v':
# add vertex
v = map(float, vals[1:4])
verts.append(v)
if vals[0] == 'vn':
# add normal
if norms is None:
norms = []
n = map(float, vals[1:4])
norms.append(n)
if vals[0] == 'f':
# add faces (includes vertex indices, texture coordinates, and normals)
vi = []
vti = []
nti = []
if vals[1].find('/') == -1:
vi = map(int, vals[1:])
vi = [i - 1 for i in vi]
else:
for j in range(1, len(vals)):
# break up like by / to read vert inds, tex coords, and normal inds
val = vals[j]
tokens = val.split('/')
for i in range(len(tokens)):
if i == 0:
vi.append(
int(tokens[i]) -
1) # adjust for python 0 - indexing
elif i == 1:
if tokens[i] != '':
vti.append(int(tokens[i]))
elif i == 2:
nti.append(int(tokens[i]))
faces.append(vi)
# below two lists are currently not in use
tex_coords.append(vti)
face_norms.append(nti)
return mesh.Mesh3D(verts, faces, norms)
def mesh_3d(data):
""" Converts HDF5 data provided in dictionary |data| to a mesh object """
vertices = np.array(data[MESH_VERTICES_KEY])
triangles = np.array(data[MESH_TRIANGLES_KEY])
normals = None
if MESH_NORMALS_KEY in data.keys():
normals = np.array(data[MESH_NORMALS_KEY])
return mesh.Mesh3D(vertices.tolist(),
triangles.tolist(),
normals=normals)
def read(self):
"""Reads in the .off file and returns a Mesh3D representation of that mesh.
Returns
-------
:obj:`Mesh3D`
A Mesh3D created from the data in the .off file.
"""
verts = []
faces = []
f = open(self.filepath_, 'r')
# parse header (NOTE: we do not support reading edges)
header = f.readline()
tokens = header.split()
if len(tokens) == 1:
header = f.readline()
tokens = header.split()
else:
tokens = tokens[1:]
num_vertices = int(tokens[0])
num_faces = int(tokens[1])
# read vertices
for i in range(num_vertices):
line = f.readline()
tokens = line.split()
vertex = [float(tokens[0]), float(tokens[1]), float(tokens[2])]
verts.append(vertex)
# read faces
for i in range(num_faces):
line = f.readline()
tokens = line.split()
if int(tokens[0]) != 3:
raise ValueError(
'Only triangle meshes supported, but OFF file has %d-faces'
% (int(tokens[0])))
face = [int(tokens[1]), int(tokens[2]), int(tokens[3])]
faces.append(face)
return mesh.Mesh3D(verts, faces)
def read(self):
"""Reads in the .obj file and returns a Mesh3D representation of that mesh.
Returns
-------
:obj:`Mesh3D`
A Mesh3D created from the data in the .obj file.
"""
numVerts = 0
verts = []
norms = None
faces = []
tex_coords = []
face_norms = []
f = open(self.filepath_, 'r')
for line in f:
# Break up the line by whitespace
vals = line.split()
if len(vals) > 0:
# Look for obj tags (see http://en.wikipedia.org/wiki/Wavefront_.obj_file)
if vals[0] == 'v':
# Add vertex
v = list(map(float, vals[1:4]))
verts.append(v)
if vals[0] == 'vn':
# Add normal
if norms is None:
norms = []
n = list(map(float, vals[1:4]))
norms.append(n)
if vals[0] == 'f':
# Add faces (includes vertex indices, texture coordinates, and normals)
vi = []
vti = []
nti = []
if vals[1].find('/') == -1:
vi = list(map(int, vals[1:]))
vi = [i - 1 for i in vi]
else:
for j in range(1, len(vals)):
# Break up like by / to read vert inds, tex coords, and normal inds
val = vals[j]
tokens = val.split('/')
for i in range(len(tokens)):
if i == 0:
vi.append(
int(tokens[i]) -
1) # adjust for python 0 - indexing
elif i == 1:
if tokens[i] != '':
vti.append(int(tokens[i]))
elif i == 2:
nti.append(int(tokens[i]))
faces.append(vi)
# Below two lists are currently not in use
tex_coords.append(vti)
face_norms.append(nti)
f.close()
return mesh.Mesh3D(verts, faces, norms)
def test_yumi_gripper():
# build new mesh
finger_filename = '/home/jmahler/jeff_working/GPIS/data/grippers/yumi/finger.obj'
base_filename = '/home/jmahler/jeff_working/GPIS/data/grippers/yumi/base.obj'
of = objf.ObjFile(finger_filename)
finger1_mesh = of.read()
finger2_mesh = copy.copy(finger1_mesh)
of = objf.ObjFile(base_filename)
base_mesh = of.read()
R_finger1_world = np.eye(3)
t_finger1_world = np.array([-0.025, -0.005, 0.082])
T_finger1_world = stf.SimilarityTransform3D(pose=tfx.pose(R_finger1_world,
t_finger1_world),
from_frame='mesh', to_frame='world')
R_finger2_world = np.array([[-1,0,0],
[0,-1,0],
[0,0,1]])
t_finger2_world = np.array([0.025, 0.005, 0.082])
T_finger2_world = stf.SimilarityTransform3D(pose=tfx.pose(R_finger2_world,
t_finger2_world),
from_frame='mesh', to_frame='world')
T_mesh_world = stf.SimilarityTransform3D(pose=tfx.pose(np.eye(4)), from_frame='world', to_frame='mesh')
finger1_mesh = finger1_mesh.transform(T_finger1_world)
finger2_mesh = finger2_mesh.transform(T_finger2_world)
offset = 0
vertices = []
triangles = []
meshes = [base_mesh, finger1_mesh, finger2_mesh]
for i, mesh in enumerate(meshes):
vertices.extend(mesh.vertices())
offset_tris = [[t[0]+offset,t[1]+offset,t[2]+offset] for t in mesh.triangles()]
triangles.extend(offset_tris)
offset += len(mesh.vertices())
gripper_mesh = m.Mesh3D(vertices, triangles)
gripper_mesh.center_vertices_bb()
of = objf.ObjFile('/home/jmahler/jeff_working/GPIS/data/grippers/yumi/gripper.obj')
#of.write(gripper_mesh)
# frames of reference
R_grasp_gripper = np.array([[0, 0, -1],
[0, 1, 0],
[1, 0, 0]])
R_mesh_gripper = np.array([[1, 0, 0],
[0, 1, 0],
[0, 0, 1]])
t_mesh_gripper = np.array([0.0, -0.002, 0.058])
T_mesh_gripper = stf.SimilarityTransform3D(pose=tfx.pose(R_mesh_gripper, t_mesh_gripper),
from_frame='gripper', to_frame='mesh')
T_gripper_world = T_mesh_gripper.inverse().dot(T_mesh_world)
T_grasp_gripper = stf.SimilarityTransform3D(pose=tfx.pose(R_grasp_gripper), from_frame='gripper', to_frame='grasp')
#T_mesh_gripper.save('/home/jmahler/jeff_working/GPIS/data/grippers/yumi/T_mesh_gripper.stf')
#T_grasp_gripper.save('/home/jmahler/jeff_working/GPIS/data/grippers/yumi/T_grasp_gripper.stf')
gripper_params = {}
gripper_params['min_width'] = 0.0
gripper_params['max_width'] = 0.05
#f = open('/home/jmahler/jeff_working/GPIS/data/grippers/yumi/params.json', 'w')
#json.dump(gripper_params, f)
MayaviVisualizer.plot_mesh(gripper_mesh, T_mesh_world, style='surface', color=(0,0,1))
MayaviVisualizer.plot_pose(T_gripper_world, alpha=0.05, tube_radius=0.0025, center_scale=0.005)
mv.axes()