def test_covariance(self):
m = Mesh3D.load('test/data/tetrahedron.obj', 'test/cache')
cv = m.covariance()
actual_cov = np.array([[1.0/30.0, 0.0, 0.0],
[0.0, 1.0/30.0, 1.0/60.0],
[0.0, 1.0/60.0, 1.0/30.0]])
self.assertEqual(np.round(cv, 5).tolist(), np.round(actual_cov, 5).tolist())
def test_bounding_box_mesh(self):
m = Mesh3D.load('test/data/tetrahedron.obj', 'test/cache')
bbm = m.bounding_box_mesh()
self.assertTrue(isinstance(bbm, Mesh3D))
self.assertEqual(bbm.vertices.shape, (8,3))
self.assertEqual(bbm.triangles.shape, (12,3))
self.assertEqual(bbm.bb_center.tolist(), [0.0, 0.5, 0.5])
self.assertEqual(bbm.centroid.tolist(), [0.0, 0.5, 0.5])
def binary_image_to_mesh(binary_im, extrusion=1000, scale_factor=1.0):
"""
Converts a binary image to a 3D extruded polygonal mesh
Parameters
----------
binary_im : :obj:`perception.BinaryImage`
binary image for silhouette
extrusion : float
amount to extrude the polygon in meters
scale_factor : float
amount to rescale the final mesh (from units of pixels to meters)
Returns
-------
:obj:`Mesh3D`
the resulting mesh
Raises
------
:obj:`ValueError`
if the triangulation was not successful due to topology or other factors
"""
# check valid input
if not isinstance(binary_im, BinaryImage):
raise ValueError('Must provide perception.BinaryImage as input')
# get occupied indices from binary image
binary_data = binary_im.data
occ_coords = binary_im.nonzero_pixels()
# create mesh faces and concatenate
front_face_depth = extrusion / 2.0
back_face_depth = -extrusion / 2.0
front_verts, front_tris, front_ind_map = ImageToMeshConverter.create_mesh_face(
occ_coords, front_face_depth, binary_data.shape, cw=True)
back_verts, back_tris, back_ind_map = ImageToMeshConverter.create_mesh_face(
occ_coords, back_face_depth, binary_data.shape, cw=False)
verts, tris = ImageToMeshConverter.join_vert_tri_lists(
front_verts, front_tris, back_verts, back_tris)
num_verts = len(front_verts)
back_ind_map = back_ind_map + num_verts
# connect boundaries
boundary_im = binary_im.boundary_map()
ImageToMeshConverter.add_boundary_tris(boundary_im, verts, tris,
front_ind_map, back_ind_map)
# convert to mesh and clean
m = Mesh3D(verts, tris)
m.remove_unreferenced_vertices()
T_im_world = RigidTransform(rotation=np.array([[0, 1, 0], [-1, 0, 0],
[0, 0, 1]]),
from_frame='obj',
to_frame='obj')
m = m.transform(T_im_world)
m.rescale_dimension(scale_factor, Mesh3D.ScalingTypeRelative)
return m
def test_normalize_vertices(self):
m = Mesh3D.load('test/data/tetrahedron.obj', 'test/cache')
m.normalize_vertices()
new_verts = [[-0.3536, 0, -1],
[0.3536, 0.7071, 0],
[-0.3536, 0, 1],
[0.3536, -0.7071, 0]]
self.assertEqual(np.round(m.bb_center, 5).tolist(), [0,0,0])
self.assertEqual(np.round(m.vertices, 4).tolist(), new_verts)
def test_rescale_dimension(self):
m = Mesh3D.load('test/data/tetrahedron.obj', 'test/cache')
m2 = m.copy()
m2.rescale_dimension(0.5, Mesh3D.ScalingTypeMin)
self.assertEqual(m2.min_coords().tolist(), [-0.5, 0.0, 0.0])
self.assertEqual(m2.max_coords().tolist(), [0.5, 0.5, 0.5])
m3 = m.copy()
m3.rescale_dimension(0.5, Mesh3D.ScalingTypeMin)
self.assertEqual(m3.min_coords().tolist(), [-0.5, 0.0, 0.0])
self.assertEqual(m3.max_coords().tolist(), [0.5, 0.5, 0.5])
def test_init(self):
verts = [[1,0,0],[0,1,0],[-1,0,0],[0,0,1]]
tris = [[3,0,1],[3,1,2],[3,2,0],[0,2,1]]
d = 1.2
m = Mesh3D(verts, tris, density=d)
self.assertTrue(isinstance(m, Mesh3D))
self.assertEqual(m.vertices.shape, (4,3))
self.assertEqual(m.vertices.tolist(), verts)
self.assertEqual(m.triangles.shape, (4,3))
self.assertEqual(m.triangles.tolist(), tris)
self.assertEqual(m.density, d)
self.assertEqual(m.bb_center.tolist(), [0.0, 0.5, 0.5])
self.assertEqual(m.centroid.tolist(), [0.0, 0.25, 0.25])
def test_remove_unreferenced_vertices(self):
m = Mesh3D.load('test/data/bad_tetrahedron.obj', 'test/cache')
self.assertEqual(m.vertices.shape[0], 6)
m.remove_bad_tris()
m.remove_unreferenced_vertices()
self.assertEqual(m.vertices.shape[0], 4)
def test_remove_bad_tris(self):
m = Mesh3D.load('test/data/bad_tetrahedron.obj', 'test/cache')
self.assertEqual(m.triangles.shape[0], 6)
m.remove_bad_tris()
self.assertEqual(m.triangles.shape[0], 4)
def test_total_volume(self):
m = Mesh3D.load('test/data/tetrahedron.obj', 'test/cache')
v = m.total_volume()
self.assertEqual(v, 1.0/3.0)
def test_tri_normals(self):
m = Mesh3D.load('test/data/tetrahedron.obj', 'test/cache')
n = m.tri_normals(True)
self.assertEqual(n.shape, (4,3))
self.assertTrue([0.0, -1.0, 0.0] in n.tolist())
self.assertTrue([0.0, 0.0, -1.0] in n.tolist())
def test_support(self):
m = Mesh3D.load('test/data/tetrahedron.obj', 'test/cache')
s = m.support(np.array([1,0,0]))
self.assertEqual(s.shape, (3,))
def test_stable_poses(self):
m = Mesh3D.load('test/data/tetrahedron.obj', 'test/cache')
m.center_of_mass = m.centroid
stps = m.stable_poses()
self.assertEqual(len(stps), 4)
def test_rescale(self):
m = Mesh3D.load('test/data/tetrahedron.obj', 'test/cache')
m.rescale(0.5)
self.assertEqual(m.min_coords().tolist(), [-0.5, 0.0, 0.0])
self.assertEqual(m.max_coords().tolist(), [0.5, 0.5, 0.5])
def test_copy(self):
m = Mesh3D.load('test/data/tetrahedron.obj', 'test/cache')
x = m.copy()
self.assertEqual(m.vertices.tolist(), x.vertices.tolist())
self.assertEqual(m.triangles.tolist(), x.triangles.tolist())
def test_bounding_box(self):
m = Mesh3D.load('test/data/tetrahedron.obj', 'test/cache')
minc, maxc = m.bounding_box()
self.assertTrue(minc.tolist() == [-1.0, 0.0, 0.0])
self.assertTrue(maxc.tolist() == [1.0, 1.0, 1.0])
def test_max_coords(self):
m = Mesh3D.load('test/data/tetrahedron.obj', 'test/cache')
self.assertTrue(m.max_coords().tolist() == [1.0, 1.0, 1.0])
def test_read(self):
m = Mesh3D.load('test/data/tetrahedron.obj', 'test/cache')
self.assertTrue(isinstance(m, Mesh3D))
self.assertTrue(m.vertices.shape == (4,3))
self.assertTrue(m.triangles.shape == (4,3))
def test_center_vertices_avg(self):
m = Mesh3D.load('test/data/tetrahedron.obj', 'test/cache')
m.center_vertices_avg()
self.assertEqual(m.centroid.tolist(), [0,0,0])
self.assertTrue([0,-0.25,0.75] in m.vertices.tolist())
def test_tri_centers(self):
m = Mesh3D.load('test/data/tetrahedron.obj', 'test/cache')
centers = m.tri_centers()
self.assertEqual(centers.shape, (4,3))
self.assertTrue([0.0, 1.0/3.0, 0.0] in centers.tolist())
def test_principal_dims(self):
m = Mesh3D.load('test/data/tetrahedron.obj', 'test/cache')
pd = m.principal_dims()
self.assertEqual(pd.tolist(), [2.0, 1.0, 1.0])
def test_convex_hull(self):
m = Mesh3D.load('test/data/tetrahedron.obj', 'test/cache')
cvh = m.convex_hull()
self.assertEqual(cvh.min_coords().tolist(), [-1, 0, 0])
self.assertEqual(cvh.max_coords().tolist(), [1, 1, 1])