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)
