def importFromFileToMesh(path):
scene = pyassimp.load(path)
if len(scene.meshes) == 0:
print "assimp_importer: found no mesh, abort"
return None
elif len(scene.meshes) > 1:
print "assimp_importer: found %s meshes, abort", len(scene.meshes)
return None
else:
faces = scene.meshes[0].faces
vertices = scene.meshes[0].vertices
result = ROSMeshTriangleMesh()
for vertex in vertices:
ros_point = ROSPoint()
ros_point.x = vertex[0]
ros_point.y = vertex[1]
ros_point.z = vertex[2]
result.vertices.append(ros_point)
for face in faces:
if len(face.indices) != 3:
print "WARNING: Triangle contained $s instead of 3 indicies", len(face.indices)
ros_triangle = ROSTriangleIndices()
ros_triangle.vertex_indices = [face.indices[0], face.indices[1], face.indices[2]]
result.triangles.append(ros_triangle)
pyassimp.release(scene)
return result
def makeMesh(self, name, pose, filename):
scene = pyassimp.load(filename)
if not scene.meshes:
rospy.logerr('Unable to load mesh')
return
mesh = Mesh()
for face in scene.meshes[0].faces:
triangle = MeshTriangle()
if len(face.indices) == 3:
triangle.vertex_indices = [face.indices[0],
face.indices[1],
face.indices[2]]
mesh.triangles.append(triangle)
for vertex in scene.meshes[0].vertices:
point = Point()
point.x = vertex[0]
point.y = vertex[1]
point.z = vertex[2]
mesh.vertices.append(point)
pyassimp.release(scene)
o = CollisionObject()
o.header.stamp = rospy.Time.now()
o.header.frame_id = self._fixed_frame
o.id = name
o.meshes.append(mesh)
o.mesh_poses.append(pose)
o.operation = o.ADD
return o
def __init__(self, filename):
self.model = pyassimp.load(filename)
self.vertices = numpy.array(flatten(self.model.meshes[0].vertices), numpy.float32)
self.make_indices()
# NOTE: this drops the W from UVW-coordinates.
self.texcoords = numpy.array([item for sublist in self.model.meshes[0].texcoords[0] for item in sublist[:2]], numpy.float32)
self.normals = numpy.array(flatten(self.model.meshes[0].normals), numpy.float32)
def __make_mesh(self, name, pose, filename):
co = CollisionObject()
scene = pyassimp.load(filename)
if not scene.meshes:
raise MoveItCommanderException("There are no meshes in the file")
co.operation = CollisionObject.ADD
co.id = name
co.header = pose.header
mesh = Mesh()
for face in scene.meshes[0].faces:
triangle = MeshTriangle()
if len(face.indices) == 3:
triangle.vertex_indices = [face.indices[0], face.indices[1], face.indices[2]]
mesh.triangles.append(triangle)
for vertex in scene.meshes[0].vertices:
point = Point()
point.x = vertex[0]
point.y = vertex[1]
point.z = vertex[2]
mesh.vertices.append(point)
co.meshes = [mesh]
co.mesh_poses = [pose.pose]
pyassimp.release(scene)
return co
def main():
scene = pyassimp.load(options.filename, aiProcessFlags)
for index, mesh in enumerate(scene.meshes):
if(options.bJSON):
writeMeshJSON(mesh, scene.materials[mesh.mMaterialIndex], scene.mRootNode[0].mTransformation)
else:
writeMesh(mesh)
# Finally release the model
pyassimp.release(scene)
def main(filename=None):
filename = filename or DEFAULT_MODEL
scene = pyassimp.load(filename)
#the model we load
print("MODEL:", filename)
print()
#write some statistics
print("SCENE:")
print(" meshes:", len(scene.meshes))
print(" materials:", len(scene.materials))
print(" textures:", len(scene.textures))
print()
print("MESHES:")
for index, mesh in enumerate(scene.meshes):
print(" MESH", index+1)
print(" material:", mesh.mMaterialIndex+1)
print(" vertices:", len(mesh.vertices))
print(" first 3 verts:", mesh.vertices[:3])
#if len(mesh.normals):
# print " first 3 normals:", mesh.normals[:3]
print(" colors:", len(mesh.colors))
tc = mesh.texcoords
print(" texture-coords 1:", len(tc[0]), "first3:", tc[0][:3])
print(" texture-coords 2:", len(tc[1]), "first3:", tc[1][:3])
print(" texture-coords 3:", len(tc[2]), "first3:", tc[2][:3])
print(" texture-coords 4:", len(tc[3]), "first3:", tc[3][:3])
print(" uv-component-count:", len(mesh.mNumUVComponents))
print(" faces:", len(mesh.faces), "first:", [f.indices for f in mesh.faces[:3]])
print(" bones:", len(mesh.bones), "first:", [b.mName for b in mesh.bones[:3]])
print()
print("MATERIALS:")
for index, material in enumerate(scene.materials):
print(" MATERIAL", index+1)
properties = pyassimp.GetMaterialProperties(material)
for key in properties:
print(" %s: %s" % (key, properties[key]))
print()
print("TEXTURES:")
for index, texture in enumerate(scene.textures):
print(" TEXTURE", index+1)
print(" width:", texture.mWidth)
print(" height:", texture.mHeight)
print(" hint:", texture.achFormatHint)
print(" data (size):", texture.mWidth*texture.mHeight)
# Finally release the model
pyassimp.release(scene)
def Load(fileName):
Model = os.path.join(os.path.dirname(__file__), fileName)
scene = pyassimp.load(Model)
newModel = Mesh()
for index, mesh in enumerate(scene.meshes): #On suppose qu'il n'y a qu'un mesh par fichier, la fonction ne renvoyant qu'un mesh
for index, vertices in enumerate(mesh.vertices):
newModel.m_vertices.insert(index, vector3(vertices[0],vertices[1],vertices[2]))
for index, face in enumerate(mesh.faces):
newModel.m_faces.insert(index, vector3(face.indices[0],face.indices[1],face.indices[2]))
for index, normal in enumerate(mesh.normals):
newModel.m_normals.insert(index, vector3(normal[0],normal[1],normal[2]))
pyassimp.release(scene)
return newModel
def main():
scene = pyassimp.load(MODEL)
# the model we load
print "MODEL:", MODEL
print
# write some statistics
print "SCENE:"
print " meshes:", len(scene.meshes)
print " materials:", len(scene.materials)
print " textures:", len(scene.textures)
print
print "MESHES:"
for index, mesh in enumerate(scene.meshes):
print " MESH", index + 1
print " material:", mesh.mMaterialIndex + 1
print " vertices:", len(mesh.vertices)
print " first:", mesh.vertices[:3]
print " colors:", len(mesh.colors)
tc = mesh.texcoords
print " texture-coords 1:", len(tc[0]), "first:", tc[0][:3]
print " texture-coords 2:", len(tc[1]), "first:", tc[1][:3]
print " texture-coords 3:", len(tc[2]), "first:", tc[2][:3]
print " texture-coords 4:", len(tc[3]), "first:", tc[3][:3]
print " uv-component-count:", len(mesh.mNumUVComponents)
print " faces:", len(mesh.faces), "first:", [f.indices for f in mesh.faces[:3]]
print " bones:", len(mesh.bones), "first:", [b.mName for b in mesh.bones[:3]]
print
print "MATERIALS:"
for index, material in enumerate(scene.materials):
print " MATERIAL", index + 1
properties = pyassimp.GetMaterialProperties(material)
for key in properties:
print " %s: %s" % (key, properties[key])
print
print "TEXTURES:"
for index, texture in enumerate(scene.textures):
print " TEXTURE", index + 1
print " width:", texture.mWidth
print " height:", texture.mHeight
print " hint:", texture.achFormatHint
print " data (size):", texture.mWidth * texture.mHeight
# Finally release the model
pyassimp.release(scene)
def make_mesh(co, name, pose, filename, scale = (1, 1, 1)):
#print("make_mesh(name=%s filename=%s)" % (name, filename))
scene = pyassimp.load(filename)
if not scene.meshes or len(scene.meshes) == 0:
raise MoveItCommanderException("There are no meshes in the file")
if len(scene.meshes[0].faces) == 0:
raise MoveItCommanderException("There are no faces in the mesh")
co.operation = CollisionObject.ADD
co.id = name
co.header = pose.header
mesh = Mesh()
first_face = scene.meshes[0].faces[0]
if hasattr(first_face, '__len__'):
for face in scene.meshes[0].faces:
if len(face) == 3:
triangle = MeshTriangle()
triangle.vertex_indices = [face[0], face[1], face[2]]
mesh.triangles.append(triangle)
elif hasattr(first_face, 'indices'):
for face in scene.meshes[0].faces:
if len(face.indices) == 3:
triangle = MeshTriangle()
triangle.vertex_indices = [face.indices[0],
face.indices[1],
face.indices[2]]
mesh.triangles.append(triangle)
else:
raise MoveItCommanderException("Unable to build triangles from mesh due to mesh object structure")
for vertex in scene.meshes[0].vertices:
point = Point()
point.x = vertex[0]*scale[0]
point.y = vertex[1]*scale[1]
point.z = vertex[2]*scale[2]
mesh.vertices.append(point)
if not isinstance(co.meshes, list):
co.meshes = []
co.meshes += [mesh]
if not isinstance(co.mesh_poses, list):
co.mesh_poses = []
co.mesh_poses += [pose.pose]
pyassimp.release(scene)
return co
def __make_mesh(name, pose, filename, scale=(1, 1, 1)):
co = CollisionObject()
if pyassimp is False:
raise MoveItCommanderException(
"Pyassimp needs patch https://launchpadlibrarian.net/319496602/patchPyassim.txt"
)
scene = pyassimp.load(filename)
if not scene.meshes or len(scene.meshes) == 0:
raise MoveItCommanderException("There are no meshes in the file")
if len(scene.meshes[0].faces) == 0:
raise MoveItCommanderException("There are no faces in the mesh")
co.operation = CollisionObject.ADD
co.id = name
co.header = pose.header
mesh = Mesh()
first_face = scene.meshes[0].faces[0]
if hasattr(first_face, '__len__'):
for face in scene.meshes[0].faces:
if len(face) == 3:
triangle = MeshTriangle()
triangle.vertex_indices = [face[0], face[1], face[2]]
mesh.triangles.append(triangle)
elif hasattr(first_face, 'indices'):
for face in scene.meshes[0].faces:
if len(face.indices) == 3:
triangle = MeshTriangle()
triangle.vertex_indices = [
face.indices[0], face.indices[1], face.indices[2]
]
mesh.triangles.append(triangle)
else:
raise MoveItCommanderException(
"Unable to build triangles from mesh due to mesh object structure"
)
for vertex in scene.meshes[0].vertices:
point = Point()
point.x = vertex[0] * scale[0]
point.y = vertex[1] * scale[1]
point.z = vertex[2] * scale[2]
mesh.vertices.append(point)
co.meshes = [mesh]
co.mesh_poses = [pose.pose]
pyassimp.release(scene)
return co
def create_mesh(name,
pose,
filename,
scale=(1, 1, 1),
frame_id='/world_frame'):
co = CollisionObject()
scene = pyassimp.load(str(exo.Tools.parsePath(filename)))
if not scene.meshes or len(scene.meshes) == 0:
raise Exception("There are no meshes in the file")
if len(scene.meshes[0].faces) == 0:
raise Exception("There are no faces in the mesh")
co.operation = CollisionObject.ADD
co.id = name
co.header.frame_id = frame_id
mesh = Mesh()
first_face = scene.meshes[0].faces[0]
if hasattr(first_face, '__len__'):
for face in scene.meshes[0].faces:
if len(face) == 3:
triangle = MeshTriangle()
triangle.vertex_indices = [face[0], face[1], face[2]]
mesh.triangles.append(triangle)
elif hasattr(first_face, 'indices'):
for face in scene.meshes[0].faces:
if len(face.indices) == 3:
triangle = MeshTriangle()
triangle.vertex_indices = [
face.indices[0], face.indices[1], face.indices[2]
]
mesh.triangles.append(triangle)
else:
raise Exception("Unable to build triangles from mesh")
for vertex in scene.meshes[0].vertices:
point = Point()
point.x = vertex[0] * scale[0]
point.y = vertex[1] * scale[1]
point.z = vertex[2] * scale[2]
mesh.vertices.append(point)
co.meshes = [mesh]
co.mesh_poses = [pose]
pyassimp.release(scene)
return co
def __make_mesh(name, pose, filename, scale=(1, 1, 1)):
co = CollisionObject()
if pyassimp is False:
raise MoveItCommanderException(
"Pyassimp needs patch https://launchpadlibrarian.net/319496602/patchPyassim.txt")
scene = pyassimp.load(filename)
if not scene.meshes or len(scene.meshes) == 0:
raise MoveItCommanderException("There are no meshes in the file")
if len(scene.meshes[0].faces) == 0:
raise MoveItCommanderException("There are no faces in the mesh")
co.operation = CollisionObject.ADD
co.id = name
co.header = pose.header
mesh = Mesh()
first_face = scene.meshes[0].faces[0]
if hasattr(first_face, '__len__'):
for face in scene.meshes[0].faces:
if len(face) == 3:
triangle = MeshTriangle()
triangle.vertex_indices = [face[0], face[1], face[2]]
mesh.triangles.append(triangle)
elif hasattr(first_face, 'indices'):
for face in scene.meshes[0].faces:
if len(face.indices) == 3:
triangle = MeshTriangle()
triangle.vertex_indices = [face.indices[0],
face.indices[1],
face.indices[2]]
mesh.triangles.append(triangle)
else:
raise MoveItCommanderException("Unable to build triangles from mesh due to mesh object structure")
for vertex in scene.meshes[0].vertices:
point = Point()
point.x = vertex[0] * scale[0]
point.y = vertex[1] * scale[1]
point.z = vertex[2] * scale[2]
mesh.vertices.append(point)
co.meshes = [mesh]
co.mesh_poses = [pose.pose]
pyassimp.release(scene)
return co
def makeMesh(self, name, ps, filename):
"""
Make a mesh collision object
:param name: Name of the object
:param ps: A pose stamped object pose message
:param filename: The mesh file to load
"""
if not use_pyassimp:
rospy.logerr("pyassimp is broken on your platform, cannot load meshes")
return
scene = pyassimp.load(filename)
if not scene.meshes:
rospy.logerr("Unable to load mesh")
return
mesh = Mesh()
for face in scene.meshes[0].faces:
triangle = MeshTriangle()
if len(face.indices) == 3:
triangle.vertex_indices = [
face.indices[0],
face.indices[1],
face.indices[2],
]
mesh.triangles.append(triangle)
for vertex in scene.meshes[0].vertices:
point = Point()
point.x = vertex[0]
point.y = vertex[1]
point.z = vertex[2]
mesh.vertices.append(point)
pyassimp.release(scene)
o = CollisionObject()
o.header.stamp = rospy.Time.now()
o.header.frame_id = ps.header.frame_id
o.id = name
o.meshes.append(mesh)
o.mesh_poses.append(ps.pose)
o.operation = o.ADD
return o
def importFromFileToTIN(path):
scene = pyassimp.load(path)
results = []
for index, mesh in enumerate(scene.meshes):
prefix = 'TIN('
postfix = ')'
infix = ''
triangles = mesh.faces
vertices = mesh.vertices
triangle_strings = []
for triangle in triangles:
indices = triangle.indices
triangle_strings.append('((%f %f %f, %f %f %f, %f %f %f, %f %f %f))' \
% (vertices[indices[0]].x, vertices[indices[0]].y, vertices[indices[0]].z, \
vertices[indices[1]].x, vertices[indices[1]].y, vertices[indices[1]].z, \
vertices[indices[2]].x, vertices[indices[2]].y, vertices[indices[2]].z, \
vertices[indices[0]].x, vertices[indices[0]].y, vertices[indices[0]].z))
infix = ",".join(triangle_strings)
tin_string = prefix + infix + postfix
results.append(tin_string)
pyassimp.release(scene)
return results
def makeMesh(self, name, pose, filename):
if not use_pyassimp:
rospy.logerr(
'pyassimp is broken on your platform, cannot load meshes')
return
scene = pyassimp.load(filename)
if not scene.meshes:
rospy.logerr('Unable to load mesh')
return
mesh = Mesh()
for face in scene.meshes[0].faces:
triangle = MeshTriangle()
if hasattr(face, "indices"):
if len(face.indices) == 3:
triangle.vertex_indices = [
face.indices[0], face.indices[1], face.indices[2]
]
else:
triangle.vertex_indices = [face[0], face[1], face[2]]
mesh.triangles.append(triangle)
for vertex in scene.meshes[0].vertices:
point = Point()
point.x = vertex[0]
point.y = vertex[1]
point.z = vertex[2]
mesh.vertices.append(point)
pyassimp.release(scene)
o = CollisionObject()
o.header.stamp = rospy.Time.now()
o.header.frame_id = self._fixed_frame
o.id = name
o.meshes.append(mesh)
o.mesh_poses.append(pose)
o.operation = o.ADD
return o
#!/usr/bin/env python
import rospy
rospy.init_node("stl")
file_name = rospy.get_param("~file_name")
if False:
import vtk
reader = vtk.vtkSTLReader()
reader.SetFileName(fil_name)
reader.Update()
polydata = reader.GetOutput()
print polydata.GetPoints()
print polydata.GetPolys()
from pyassimp import pyassimp
scene = pyassimp.load(file_name)
print scene
mesh = scene.meshes[0]
print dir(mesh)
print mesh.faces[0].indices
# print mesh.vertices
# print mesh.
# TODO(lucasw) convert the vertices and indices to a shape_msg/Mesh
def _load(self, filename):
self.model = pyassimp.load(filename.encode('ascii'))
self.meshes = []
for index, mesh in enumerate(self.model.meshes):
self.meshes.append(Mesh(mesh))
def main():
# check arguments are valid
if (len(argv) != 3):
print("Please give the waypoint xml file as the first "\
"parameter, and the folder \ncontaining the obj files "\
"as the second: \neg. 'python pathing.py waypoints.xml "\
"obj-file-directory'")
exit()
# load xml from unity
waypoints = parse_waypoints(argv[1])
for waypoint in waypoints:
waypoint['paths'] = dict()
# print(waypoints)
# find all .obj files in the given directory
if(not os.access(argv[2], os.F_OK)):
print("Folder specified does not exist.")
print("Please make sure the second argument is an absolute "\
"path to a folder containing .obj files.")
exit()
obj_filenames = [join(argv[2], f) for f in os.listdir(argv[2]) \
if isfile(join(argv[2], f)) and f[-4:] == '.obj']
if(not obj_filenames):
print("No .obj files in folder specified.")
print("Please make sure the second argument is an absolute "\
"path to a folder containing .obj files.")
exit()
# print(obj_filenames)
# populate the graph with nodes
g = Graph()
for filename in obj_filenames:
scene = pyassimp.load(filename)
for mesh in scene.meshes:
for face in mesh.faces:
vs = [mesh.vertices[i] for i in face.indices]
# minus signs compensate for unity's transformations
# this looks like a difference between left-handed and
# right-handed co-ordinate systems.
v0 = (-vs[0].x, vs[0].y, vs[0].z)
v1 = (-vs[1].x, vs[1].y, vs[1].z)
v2 = (-vs[2].x, vs[2].y, vs[2].z)
g.add_node(v0)
g.add_node(v1)
g.add_node(v2)
# these weights get replaced later based on the weighting
# of heuristics used
g.add_edge_two_way(v0, v1, 0)
g.add_edge_two_way(v0, v2, 0)
g.add_edge_two_way(v1, v2, 0)
# add a 'node' entry to each waypoint. This entry is the label used to
# identify the waypoint with its corresponding graph node.
for waypoint in waypoints:
for node in g.nodes:
if(close(waypoint['pos'], node)):
waypoint['node'] = node
break
# for waypoint in waypoints:
# if('node' in waypoint):
# print(waypoint['node'])
# print waypoints, "\n\n"
# generate weights
weights = list(product(xrange(6, 11, 1), xrange(0, 5, 1), xrange(0, 5, 1)))
weights = [(float(x[0])/10, float(x[1])/10, float(x[2])/10) \
for x in weights if sum(x) == 10]
# print(weights)
# find the astar path between every waypoint for each weighting
for weight in weights:
h = make_heuristic(weight)
# modify graph edges based on this heuristic
for node in g.nodes:
for edge in g.edges[node]:
edge['dist'] = h(node, edge['to'])
# for each pair of waypoints
for i in xrange(len(waypoints)-1):
for j in xrange(i+1, len(waypoints)):
# TODO: timing here
repetitions = 50
totaltime = 0
for k in xrange(repetitions):
start = time()
shortest = g.astar(waypoints[i]['node'], \
waypoints[j]['node'], \
h)
end = time()
totaltime += end - start
if(shortest):
shortest['time'] = totaltime/repetitions
if(weight not in waypoints[i]['paths']):
waypoints[i]['paths'][weight] = list()
waypoints[i]['paths'][weight].append(shortest)
other = dict(shortest)
other['path'] = list(shortest['path'])
other['path'].reverse()
if(weight not in waypoints[j]['paths']):
waypoints[j]['paths'][weight] = list()
waypoints[j]['paths'][weight].append(other)
else:
print 'No path between', waypoints[i]['title'], 'and', \
waypoints[j]['title']
# find the average times taken for each weighting
# results = dict() # maps each weight to an average time and cost
print('Times:')
for weight in weights:
totaltime = 0
totalpaths = 0
for waypoint in waypoints:
for path in waypoint['paths'][weight]:
totaltime += path['time']
totalpaths += 1
print weight, ":", float(totaltime)/float(totalpaths)
print('Distances:')
for weight in weights:
totalcost = 0
totalpaths = 0
for waypoint in waypoints:
for path in waypoint['paths'][weight]:
totalcost += path['dist']
totalpaths += 1
print weight, ":", float(totalcost)/float(totalpaths)
# for w in waypoints:
# print w, "\n\n"
# remove the time entries from the waypoints
for weight in weights:
for waypoint in waypoints:
# print(len(waypoint['paths'][weight]))
for path in waypoint['paths'][weight]:
del path['time']
# save the astar paths to xml
write_waypoints(waypoints, argv[1][:-4] + '_out.xml')
def load_model(filename):
return pyassimp.load(filename)
#!/usr/bin/env python
import rospy
from pyassimp import pyassimp
rospy.init_node("stl")
file_name = rospy.get_param("~file_name")
if False:
import vtk
reader = vtk.vtkSTLReader()
reader.SetFileName(fil_name)
reader.Update()
polydata = reader.GetOutput()
print polydata.GetPoints()
print polydata.GetPolys()
scene = pyassimp.load(file_name)
print scene
mesh = scene.meshes[0]
print dir(mesh)
print mesh.faces[0].indices
# print mesh.vertices
# print mesh.
# TODO(lucasw) convert the vertices and indices to a shape_msg/Mesh
# process = process | 0x2 # JoinIdenticalVertices
process = process | 0x8 # Triangulate
process = process | 0x40 # Generate smooth normals
process = process | 0x100 # PretransformVertices (bake graph transforms, remove anmations)
process = process | 0x400 # ValidateDataStructure
process = process | 0x800 # ImproveCacheLocality
process = process | 0x1000 # RemoveRudendantMaterials
process = process | 0x1000 # RemoveRudendantMaterials
process = process | 0x2000 # FixInfacingNormals
process = process | 0x8000 # SortByPType
process = process | 0x10000 # FindDegenerates
process = process | 0x40000 # GenUVCoords - ake mapping functions as explicit coordinates.
process = process | 0x80000 # PretransformUVCoords
process = process | 0x200000 #OptimizeMeshes
scene = pyassimp.load(input_filename, process) # , process
o.write('{\n')
o.write(' "meshes": [\n')
textures = {}
def process_texture(filename):
tex_fname = os.path.split(filename)[1]
tex_in_path = os.path.abspath(base_path + '/' + filename)
tex_out_path = output_dir + '/' + tex_fname.lower()
if not tex_fname in textures:
tex = Image.open(tex_in_path)
ow2 = math.floor(math.log(tex.size[0]) / math.log(2))
oh2 = math.floor(math.log(tex.size[1]) / math.log(2))
def main():
# check arguments are valid
if (len(argv) != 3):
print("Please give the waypoint xml file as the first "\
"parameter, and the folder \ncontaining the obj files "\
"as the second: \neg. 'python pathing.py waypoints.xml "\
"obj-file-directory'")
exit()
# load xml from unity
waypoints = parse_waypoints(argv[1])
# print(waypoints)
# find all .obj files in the given directory
if(not os.access(argv[2], os.F_OK)):
print("Folder specified does not exist.")
print("Please make sure the second argument is an absolute "\
"path to a folder containing .obj files.")
exit()
obj_filenames = [join(argv[2], f) for f in os.listdir(argv[2]) \
if isfile(join(argv[2], f)) and f[-4:] == '.obj']
if(not obj_filenames):
print("No .obj files in folder specified.")
print("Please make sure the second argument is an absolute "\
"path to a folder containing .obj files.")
exit()
# print(obj_filenames)
# load .obj files into a Graph object
g = Graph()
for filename in obj_filenames:
current_scene = pyassimp.load(filename)
for mesh in current_scene.meshes:
for face in mesh.faces:
vs = [mesh.vertices[i] for i in face.indices]
r = lambda x: round(x, 5)
# minus signs compensate for unity's transformations
# this looks like a difference between left-handed and
# right-handed co-ordinate systems.
v0 = (-vs[0].x, vs[0].y, vs[0].z)
v1 = (-vs[1].x, vs[1].y, vs[1].z)
v2 = (-vs[2].x, vs[2].y, vs[2].z)
g.add_node(v0)
g.add_node(v1)
g.add_node(v2)
g.add_edge_two_way(v0, v1, dist(v0, v1))
g.add_edge_two_way(v0, v2, dist(v0, v2))
g.add_edge_two_way(v1, v2, dist(v1, v2))
# add a 'node' entry to each waypoint. This node gives the
# actual co-ordinates as found in the graph.
for waypoint in waypoints:
for node in g.nodes:
if(close(waypoint['pos'], node)):
waypoint['node'] = node
break
# print waypoints, "\n\n"
# find the astar path between every waypoint for each weighting
for waypoint in waypoints:
waypoint['paths'] = dict()
weights = [(1,0,0)]#, (0.5, 0.5, 0), (0.5, 0, 0.5)]
# for each pair of waypoints
for i in xrange(len(waypoints)-1):
for j in xrange(i+1, len(waypoints)):
# for each weighting
for weight in weights:
shortest = g.astar(waypoints[i]['node'], \
waypoints[j]['node'], \
make_heuristic(weight))
if(shortest):
if(weight not in waypoints[i]['paths']):
waypoints[i]['paths'][weight] = list()
waypoints[i]['paths'][weight].append(shortest)
other = dict(shortest)
other['path'] = list(shortest['path'])
other['path'].reverse()
if(weight not in waypoints[j]['paths']):
waypoints[j]['paths'][weight] = list()
waypoints[j]['paths'][weight].append(other)
else:
print 'No path between', waypoints[i]['title'], 'and', \
waypoints[j]['title']
for w in waypoints:
print w, "\n\n"
# save the astar paths to xml
write_waypoints(waypoints, argv[1][:-4] + '_out.xml')
#!/usr/bin/env python2.7
import sys
from pyassimp import pyassimp
print("BEGIN")
for obj in sys.argv[1:]:
try:
scene = pyassimp.load(obj)
except pyassimp.AssimpError:
print("Ei voitu ladata {}".format(obj))
else:
xcoords = []
ycoords = []
zcoords = []
for mesh in scene.meshes:
for vertex in mesh.vertices:
xcoords.append(vertex[0])
ycoords.append(vertex[1])
zcoords.append(vertex[2])
mincoord = (min(xcoords), min(ycoords), min(zcoords))
maxcoord = (max(xcoords), max(ycoords), max(zcoords))
obj = obj.split('/')
filename = obj[-1]
filename = filename.replace('_hd.obj', '')
path = obj[:-1]
def attribute(doc, name, data):
attribute = doc.createElement('attribute')
attribute.setAttribute('id', name)
for index, item in enumerate(data):
components = len(item._fields_)
typename = type(item[0]).__name__
position = doc.createElement(typename + str(components))
for fieldIndex, field in enumerate(item._fields_):
position.setAttribute(field[0], str(item[fieldIndex]))
attribute.appendChild(position)
return attribute
# aiProcess_GenUVCoords | aiProcess_OptimizeMeshes | aiProcess_SortByPType | aiProcess_Triangulate
processing = 0x40000 | 0x200000 | 0x8000 | 0x8
scene = pyassimp.load(sys.argv[1], 8)
doc = minidom.Document()
obj = doc.createElement('object')
intAttrName = ['i','j','k','l']
for index, mesh in enumerate(scene.meshes):
meshElement = doc.createElement('mesh')
meshElement.setAttribute('index', str(index))
# vertices
positions = attribute(doc, 'position', mesh.vertices)
meshElement.appendChild(positions)
# normals
if any(mesh.normals):
normals = attribute(doc, 'normal', mesh.normals)
