def CreateScene(pSdkManager, pScene, files):
lSceneInfo = KFbxDocumentInfo.Create(pSdkManager, "SceneInfo")
lSceneInfo.mTitle = "Body scan"
lSceneInfo.mSubject = "A body scan"
lSceneInfo.mAuthor = "Team KinectOpenNiRosBoostGraphLibDaiPclEigen"
lSceneInfo.mRevision = "rev. 0.1"
lSceneInfo.mKeywords = "body mesh rigged"
lSceneInfo.mComment = "no comments"
pScene.SetSceneInfo(lSceneInfo)
import os,glob
skelFiles = glob.glob(os.path.dirname(files['skeleton'])+'/*.yaml')
skelFiles.sort()
print 'starting export'
baseSkeletonData = Skeleton.fromFunnyYaml(skelFiles[0])
print 'imported skeleton'
lMeshNode,T,V = CreateMesh(pSdkManager, files['obj'])
pScene.GetRootNode().AddChild(lMeshNode)
print 'converted mesh'
CreateSkeletonNodes(pSdkManager, "Skeleton", baseSkeletonData)
pScene.GetRootNode().AddChild(baseSkeletonData.torsoNode)
return
print 'created skeleton'
LinkMeshToSkeleton(lSdkManager, lMeshNode, baseSkeletonData, files['weights'])
print 'added skin'
print 'now adding animation (slow)'
skels = [(int(fname[-10:-5])/15.,Skeleton.fromFunnyYaml(fname)) for fname in skelFiles[1:]]
print 'imported all skeletons'
AnimateSkeleton(pSdkManager, pScene, baseSkeletonData, skels)
print 'animated skeleton'
return True
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 CreateScene(pSdkManager, pScene, files):
lSceneInfo = KFbxDocumentInfo.Create(pSdkManager, "SceneInfo")
lSceneInfo.mTitle = "Body scan"
lSceneInfo.mSubject = "A body scan"
lSceneInfo.mAuthor = "Team KinectOpenNiRosBoostGraphLibDaiPclEigen"
lSceneInfo.mRevision = "rev. 0.1"
lSceneInfo.mKeywords = "body mesh rigged"
lSceneInfo.mComment = "no comments"
pScene.SetSceneInfo(lSceneInfo)
import os, glob
skelFiles = glob.glob(os.path.dirname(files['skeleton']) + '/*.yaml')
skelFiles.sort()
print 'starting export'
baseSkeletonData = Skeleton.fromFunnyYaml(skelFiles[0])
print 'imported skeleton'
lMeshNode, T, V = CreateMesh(pSdkManager, files['obj'])
pScene.GetRootNode().AddChild(lMeshNode)
print 'converted mesh'
CreateSkeletonNodes(pSdkManager, "Skeleton", baseSkeletonData)
pScene.GetRootNode().AddChild(baseSkeletonData.torsoNode)
return
print 'created skeleton'
LinkMeshToSkeleton(lSdkManager, lMeshNode, baseSkeletonData,
files['weights'])
print 'added skin'
print 'now adding animation (slow)'
skels = [(int(fname[-10:-5]) / 15., Skeleton.fromFunnyYaml(fname))
for fname in skelFiles[1:]]
print 'imported all skeletons'
AnimateSkeleton(pSdkManager, pScene, baseSkeletonData, skels)
print 'animated skeleton'
return True
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
