def test_3d_transform(): np.random.seed(100) sdf_3d_file_name = 'data/test/sdf/Co_clean_dim_25.sdf' s = sf.SdfFile(sdf_3d_file_name) sdf_3d = s.read() # transform pose_mat = np.matrix([[0, 1, 0, 0], [-1, 0, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]) tf = tfx.transform(pose_mat, from_frame='world') tf = tfx.random_tf() tf.position = 0.01 * np.random.rand(3) start_t = time.clock() s_tf = stf.SimilarityTransform3D(tf, scale=1.2) sdf_tf = sdf_3d.transform(s_tf) end_t = time.clock() duration = end_t - start_t logging.info('3D Transform took %f sec' % (duration)) logging.info('Transformed resolution %f' % (sdf_tf.resolution)) start_t = time.clock() sdf_tf_d = sdf_3d.transform(s_tf, detailed=True) end_t = time.clock() duration = end_t - start_t logging.info('Detailed 3D Transform took %f sec' % (duration)) logging.info('Transformed detailed resolution %f' % (sdf_tf_d.resolution)) # display plt.figure() sdf_3d.scatter() plt.title('Original') plt.figure() sdf_tf.scatter() plt.title('Transformed') plt.figure() sdf_tf_d.scatter() plt.title('Detailed Transformed') plt.show()
def test_3d_transform(): np.random.seed(100) sdf_3d_file_name = 'data/test/sdf/Co_clean_dim_25.sdf' s = sf.SdfFile(sdf_3d_file_name) sdf_3d = s.read() # transform pose_mat = np.matrix([[0, 1, 0, 0],[-1, 0, 0, 0],[0, 0, 1, 0],[0, 0,0,1]]) tf = tfx.transform(pose_mat, from_frame='world') tf = tfx.random_tf() tf.position = 0.01 * np.random.rand(3) start_t = time.clock() s_tf = stf.SimilarityTransform3D(tf, scale = 1.2) sdf_tf = sdf_3d.transform(s_tf) end_t = time.clock() duration = end_t - start_t logging.info('3D Transform took %f sec' %(duration)) logging.info('Transformed resolution %f' %(sdf_tf.resolution)) start_t = time.clock() sdf_tf_d = sdf_3d.transform(s_tf, detailed = True) end_t = time.clock() duration = end_t - start_t logging.info('Detailed 3D Transform took %f sec' %(duration)) logging.info('Transformed detailed resolution %f' %(sdf_tf_d.resolution)) # display plt.figure() sdf_3d.scatter() plt.title('Original') plt.figure() sdf_tf.scatter() plt.title('Transformed') plt.figure() sdf_tf_d.scatter() plt.title('Detailed Transformed') plt.show()
import sys import obj_file import mesh import tfx import IPython argc = len(sys.argv) filename = sys.argv[1] file_root, file_ext = os.path.splitext(filename) of = obj_file.ObjFile(filename) m = of.read() tf = tfx.random_tf() v_array = np.array(m.get_vertices()) w_array = np.array(m.get_vertices()) w_list = [] for i in range(v_array.shape[0]): w = np.array(tf.apply(v_array[i, :])) w = w.T[0] w_array[i, :] = w w_list.append([w[0], w[1], w[2]]) m_t = mesh.Mesh(w_list, m.get_triangles()) new_filename = file_root + '_tf' + file_ext of_out = obj_file.ObjFile(new_filename)
import sys import obj_file import mesh import tfx import IPython argc = len(sys.argv) filename = sys.argv[1] file_root, file_ext = os.path.splitext(filename) of = obj_file.ObjFile(filename) m = of.read() tf = tfx.random_tf() v_array = np.array(m.get_vertices()) w_array = np.array(m.get_vertices()) w_list = [] for i in range(v_array.shape[0]): w = np.array(tf.apply(v_array[i,:])) w = w.T[0] w_array[i,:] = w w_list.append([w[0], w[1], w[2]]) m_t = mesh.Mesh(w_list, m.get_triangles()) new_filename = file_root + '_tf' + file_ext of_out = obj_file.ObjFile(new_filename)