def from_obj(filename):
mesh = threed.mesh_from_obj(filename)
res = object_finder_msg.Mesh()
components = []
for mtl, x in itertools.groupby(zip(mesh.indices, mesh.materials), lambda (triangle, mtl): mtl):
triangles = []
for triangle, mtl_ in x:
assert len(triangle) == 3
assert mtl_ is mtl
triangles.append(object_finder_msg.Triangle(
corners=[Point(*mesh.vertices[vert_index]) for vert_index, tex_index, normal_index in triangle],
))
components.append(object_finder_msg.Component(
name=mtl.name,
color=object_finder_msg.Color(
r=mtl.Kd[0],
g=mtl.Kd[1],
b=mtl.Kd[2],
),
triangles=triangles,
))
corners=[Point(*mesh.vertices[vert_index]) for vert_index, tex_index, normal_index in triangle],
))
components.append(object_finder_msg.Component(
name=mtl.name,
color=object_finder_msg.Color(
r=mtl.Kd[0],
g=mtl.Kd[1],
b=mtl.Kd[2],
),
triangles=triangles,
))
components.sort(key=lambda component: component.name)
return object_finder_msg.Mesh(components=components)
targetdesc = object_finder_msg.TargetDesc(
type=object_finder_msg.TargetDesc.TYPE_MESH,
mesh=None,
prior_distribution=PoseWithCovariance(
pose=Pose(
orientation=None, # set later
),
covariance=[
0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0,