def __init__(self, objpath, handpkg, gdb):
self.objtrimesh=trimesh.load_mesh(objpath)
self.objcom = self.objtrimesh.center_mass
self.objtrimeshconv=self.objtrimesh.convex_hull
# oc means object convex
self.ocfacets, self.ocfacetnormals = self.objtrimeshconv.facets_over(.9999)
# for dbaccess
self.dbobjname = os.path.splitext(os.path.basename(objpath))[0]
# use two bulletworld, one for the ray, the other for the tabletop
self.bulletworldray = BulletWorld()
self.bulletworldhp = BulletWorld()
# plane to remove hand
self.planebullnode = cd.genCollisionPlane(offset=0)
self.bulletworldhp.attachRigidBody(self.planebullnode)
self.handpkg = handpkg
self.handname = handpkg.getHandName()
self.hand = handpkg.newHandNM(hndcolor=[0,1,0,.1])
# self.rtq85hnd = rtq85nm.Rtq85NM(hndcolor=[1, 0, 0, .1])
# for dbsave
# each tpsmat4 corresponds to a set of tpsgripcontacts/tpsgripnormals/tpsgripjawwidth list
self.tpsmat4s = None
self.tpsgripcontacts = None
self.tpsgripnormals = None
self.tpsgripjawwidth = None
# for ocFacetShow
self.counter = 0
self.gdb = gdb
self.loadFreeAirGrip()
def __init__(self, objpath, robot, handpkg, gdb, armname):
self.objtrimesh=trimesh.load_mesh(objpath)
# for dbaccess
self.dbobjname = os.path.splitext(os.path.basename(objpath))[0]
# regg = regrip graph
self.regg = nx.Graph()
self.gdb = gdb
self.robot = robot
self.handpkg = handpkg
# load retraction distances
self.rethandx, self.retworldz, self.retworlda, self.worldz = self.gdb.loadIKRet()
# worlda is default for the general grasps on table top
# for assembly at start and goal, worlda is computed by assembly planner
self.worlda = Vec3(0,0,1)
self.globalgripids = []
self.fttpsids = []
self.nfttps = 0
self.gnodesplotpos = {}
self.gdb = gdb
self.robot = robot
self.handpkg = handpkg
self.__loadGripsToBuildGraph(armname)
def setUp(self):
ray_filename = os.path.join(SCRIPT_DIR, 'ray_data.json')
with open(ray_filename, 'r') as f_obj:
data = json.load(f_obj)
self.meshes = [trimesh.load_mesh(location(f)) for f in data['filenames']]
self.rays = data['rays']
self.truth = data['truth']
def _convertFormat(self):
mesh = trimesh.load_mesh(self.inputname)
if mesh.is_watertight:
self.inputname = "temporary{:d}.off".format(int(time.time()))
mesh.export(file_obj=self.inputname, file_type="off")
else:
raise SystemError("There is a hole in the mesh. Aborting meshing...")
def transform_converted_matlab_meshes(mesh_path):
mesh = load_mesh(mesh_path)
roty = get_rot_y( -np.pi/2)
rotz = get_rot_z( -np.pi/2)
t = np.dot( rotz, roty)
mesh.apply_transform(t)
return mesh
def load_model(self, path, postprocess = None):
self.scene = SceneStruct( meshes = [] )
record = spio.loadmat(exemplar_annotation_root + path + '.mat', struct_as_record=True)
objects = record['record']['objects'][0,0]
classes = objects['class'][0]
for i, x in enumerate(classes):
if x == 'car':
car = objects[0,i]
if car['viewpoint'].shape == (1,1):
viewpoint = car['viewpoint']
azimuth = viewpoint['azimuth'][0,0][0,0]
elevation = viewpoint['elevation'][0,0][0,0]
distance = viewpoint['distance'][0,0][0,0]
px = viewpoint['px'][0,0][0,0]
py = viewpoint['py'][0,0][0,0]
yaw = viewpoint['theta'][0,0][0,0]
focal = 3000
cad_idx = car['cad_index'][0,0]-1
print 'loading mesh car%d_t.stl' % cad_idx
far = 100
near = 0.001
self.near = near
self.far = far
r = viewport_size_x - px
l = -px
t = viewport_size_y - py
b = -py
self.perspMat = np.array([focal, 0, 0, 0, 0, -focal, 0, 0, -px, -py, near+far, -1, 0, 0, near*far, 0])
###self.perspMat = np.array([focal, 0, 0, 0, 0, -focal, 0, 0, -px, -height/2, near+far, -1, 0, 0, near*far, 0])
mesh = load_mesh(cad_transformed_root + 'car%d_t.stl' % cad_idx)
print 'Done'
e = elevation*np.pi/180
a = azimuth*np.pi/180
d = distance
C = np.zeros((3,1))
C[0] = 0 # d*np.cos(e)*np.sin(a)
C[2] = -d # -d*np.cos(e)*np.cos(a)
C[1] = 0 # -d*np.sin(e)
roty = get_rot_y(-(azimuth-90)*np.pi/180)
rotx = get_rot_x( elevation*np.pi/180)
rotz = get_rot_z( yaw*np.pi/180)
mesh.apply_transform( np.dot(rotx, roty) )
mesh.apply_translation(C)
mesh.apply_transform(rotz)
self.scene.meshes.append(mesh)
self.bb_min = mesh.bounds[0,:]
print self.bb_min
self.bb_max = mesh.bounds[1,:]
print self.bb_max
self.scene_center = [(a + b) / 2. for a, b in zip(self.bb_min, self.bb_max)]
print self.scene_center
for index, mesh in enumerate(self.scene.meshes):
print 'preparing buffers'
self.prepare_gl_buffers(mesh)
print '%d done' % index
def setUp(self):
# inertia numbers pulled from solidworks
self.truth = json.load(open('mass_properties.json', 'r'))
self.meshes = dict()
for data in self.truth:
filename = data['filename']
location = os.path.abspath(os.path.join(TEST_DIR, filename))
self.meshes[filename] = trimesh.load_mesh(location)
def setUp(self):
meshes = deque()
for filename in os.listdir(TEST_DIR):
log.info('Attempting to load %s', filename)
location = os.path.abspath(os.path.join(TEST_DIR, filename))
meshes.append(trimesh.load_mesh(location))
meshes[-1].metadata['filename'] = filename
self.meshes = list(meshes)
def setUp(self):
# inertia numbers pulled from solidworks
self.truth = g.data['mass_properties']
self.meshes = dict()
for data in self.truth:
filename = data['filename']
location = os.path.abspath(os.path.join(g.dir_models, filename))
self.meshes[filename] = trimesh.load_mesh(location)
def genAvailableFAGsSgl(base, basepath, baseMat4, objpath, objMat4, gdb, handpkg):
"""
find the collision freeairgrips of objpath without considering rotation
:param base: panda base
:param basepath: the path of base object
:param objpath: the path of obj object, the object to be assembled
:param baseMat4, objMat4: all in world coordinates, not relative
:param gdb: grasp db
:param handpkg: hand package
:return: [assgripcontacts, assgripnormals, assgriprotmat4s, assgripjawwidth, assgripidfreeair]
author: weiwei
date: 20170307
"""
bulletworld = BulletWorld()
robothand = handpkg.newHandNM(hndcolor=[1, 0, 0, .1])
basetrimesh = trimesh.load_mesh(basepath)
basenp = pg.packpandanp(basetrimesh.vertices, basetrimesh.face_normals, basetrimesh.faces)
basenp.setMat(baseMat4)
basebullnode = cd.genCollisionMeshNp(basenp, base.render)
bulletworld.attachRigidBody(basebullnode)
dbobjname = os.path.splitext(os.path.basename(objpath))[0]
objfag = F*g(gdb, dbobjname, handpkg)
assgripcontacts = []
assgripnormals = []
assgriprotmat4s = []
assgripjawwidth = []
assgripidfreeair = []
for i, rotmat in enumerate(objfag.freegriprotmats):
assgrotmat = rotmat*objMat4
robothand.setMat(assgrotmat)
# detect the collisions when hand is open!
robothand.setJawwidth(robothand.jawwidthopen)
hndbullnode = cd.genCollisionMeshMultiNp(robothand.handnp)
result0 = bulletworld.contactTest(hndbullnode)
robothand.setJawwidth(objfag.freegripjawwidth[i])
hndbullnode = cd.genCollisionMeshMultiNp(robothand.handnp)
result1 = bulletworld.contactTest(hndbullnode)
if (not result0.getNumContacts()) and (not result1.getNumContacts()):
cct0 = objMat4.xformPoint(objfag.freegripcontacts[i][0])
cct1 = objMat4.xformPoint(objfag.freegripcontacts[i][1])
cctn0 = objMat4.xformPoint(objfag.freegripnormals[i][0])
cctn1 = objMat4.xformPoint(objfag.freegripnormals[i][1])
assgripcontacts.append([cct0, cct1])
assgripnormals.append([cctn0, cctn1])
assgriprotmat4s.append(assgrotmat)
assgripjawwidth.append(objfag.freegripjawwidth[i])
assgripidfreeair.append(objfag.freegripids[i])
return [assgripcontacts, assgripnormals, assgriprotmat4s, assgripjawwidth, assgripidfreeair]
def loadSerialized(self, filename, ompath):
self.objtrimesh=trimesh.load_mesh(ompath)
try:
self.facets, self.facetnormals, self.facetcolorarray, self.objsamplepnts, \
self.objsamplenrmls, self.objsamplepnts_ref, self.objsamplenrmls_ref, \
self.objsamplepnts_refcls, self.objsamplenrmls_refcls = \
pickle.load(open(filename, mode="rb"))
except:
print str(sys.exc_info()[0])+" cannot load tmpcp.pickle"
raise
def __init__(self, objpath, gdb, handpkg, base):
"""
initialization
:param objpath: path of the object
:param base: for the loadFreeAirGrip --> genHandPairs functions (for collision detection)
author: weiwei
date: 20161215, tsukuba
"""
self.handpkg = handpkg
self.handname = handpkg.getHandName()
self.hand0 = handpkg.newHandNM(hndcolor=[1,0,0,.1])
self.hand1 = handpkg.newHandNM(hndcolor=[0,0,1,.1])
self.objtrimesh = trimesh.load_mesh(objpath)
self.objnp = pg.packpandanp(self.objtrimesh.vertices, self.objtrimesh.face_normals, self.objtrimesh.faces)
self.dbobjname = os.path.splitext(os.path.basename(objpath))[0]
# mat4list is nested list, floatingposemat4 is list (the flat version of mat4lsit), they are essentially the same
self.mat4list = []
self.floatingposemat4 = []
# gridsfloatingposemat4s is self.floatingposemat4 translated to different grids
self.gridsfloatingposemat4s = []
self.icos = None
self.floatinggripids = []
self.floatinggripmat4s = []
self.floatinggripcontacts = []
self.floatinggripnormals = []
self.floatinggripjawwidth = []
self.floatinggripidfreeair = []
self.bulletworld = BulletWorld()
self.handpairList = []
self.gdb = gdb
self.__loadFreeAirGrip(base)
# for IK
self.floatinggripikfeas_rgt = []
self.floatinggripikfeas_handx_rgt = []
self.floatinggripikfeas_lft = []
self.floatinggripikfeas_handx_lft = []
# for ik-feasible pairs
self.floatinggrippairsids = []
self.floatinggrippairshndmat4s = []
self.floatinggrippairscontacts = []
self.floatinggrippairsnormals = []
self.floatinggrippairsjawwidths = []
self.floatinggrippairsidfreeairs = []
self.__genPandaRotmat4()
def loadMeshFromFile(self,filename,objname,initpos = (0.,0.,0.),initvel = (0.,0.,0.), \
initquat = (1.,0.,0.,0.), scale = 1., **kwargs):
if not os.path.isfile(filename):
raise IOError(filename + ' not found')
mesh = trimesh.load_mesh(filename)
#if not mesh.is_watertight: raise Exception('Only watertight meshes allowed! ' + filename)
mesh.vertices -= mesh.center_mass
mesh.vertices *= scale
pem = PEMesh(self,objname,mesh,initpos,initvel,initquat,**kwargs)
self._objs[objname] = pem
return pem
def test_contains(self):
mesh = trimesh.load_mesh(location('unit_cube.STL'))
scale = 1+(trimesh.constants.tol.merge*2)
test_on = mesh.contains(mesh.vertices)
test_in = mesh.contains(mesh.vertices * (1.0/scale))
test_out = mesh.contains(mesh.vertices * scale)
#assert test_on.all()
assert test_in.all()
assert not test_out.any()
def main(source, dest=None):
debug = False
if dest:
build_dataset(source, dest)
return
# Debug mode
build_panoramic_view_and_save(source, '.')
import trimesh
mesh = trimesh.load_mesh(source)
mesh.show()
def _load_object(self, i):
mesh_path = self._object_paths[i]
mesh = trimesh.load_mesh(mesh_path)
# V-REP encodes the object centroid as the literal center of the object,
# so we need to make sure the points are centered the same way
center = lib.utils.calc_mesh_centroid(mesh, center_type='vrep')
mesh.vertices -= center
mesh.vertices /= 100 # G3DB meshes are in cm, convert to meter
mesh_file = self.to_mesh_tempfile(mesh)
return mesh, mesh_file
def __getitem__(self, i):
name = os.path.basename(self._object_paths[i])
mesh = trimesh.load_mesh(self._object_paths[i])
# mesh.vertices *= 1.75
mesh.vertices *= 1.5
mesh.vertices -= mesh.center_mass
mesh_file = self.to_mesh_tempfile(mesh)
mass = 1.0
center_mass = mesh.center_mass
inertia = np.eye(3) * 1e-3
return Mesh(mesh_file, name, mass, center_mass, inertia)
def setUp(self):
meshes = deque()
for filename in os.listdir(TEST_DIR):
ext = os.path.splitext(filename)[-1][1:].lower()
if not ext in trimesh.available_formats():
continue
log.info('Attempting to load %s', filename)
location = os.path.abspath(os.path.join(TEST_DIR, filename))
meshes.append(trimesh.load_mesh(location))
meshes[-1].metadata['filename'] = filename
self.meshes = list(meshes)
def setUp(self):
# inertia numbers pulled from solidworks
mass_filename = os.path.join(SCRIPT_DIR, 'mass_properties.json')
with open(mass_filename, 'r') as f_obj:
self.truth = json.load(f_obj)
self.meshes = dict()
for data in self.truth:
filename = data['filename']
location = os.path.abspath(os.path.join(TEST_DIR, filename))
self.meshes[filename] = trimesh.load_mesh(location)
def load(self, path):
try:
import trimesh
except:
log.msg('trimesh not available')
# load a file by name or from a buffer
l = trimesh.load_mesh(path)
if isinstance(l, trimesh.Trimesh):
self.mesh = l
else:
log.msg('Unable to load mesh, multiple files loaded?')
def __init__(self, objpath0, objpath1):
"""
load two objects
:param objpath0:
:param objpath1:
author: weiwei
date: 20180613
"""
self.objtrimesh0 = trimesh.load_mesh(objpath0)
self.objnp0 = pg.packpandanp_fn(self.objtrimesh0.vertices,
self.objtrimesh.face_normals,
self.objtrimesh.faces)
self.objtrimesh1 = trimesh.load_mesh(objpath1)
self.objnp1 = pg.packpandanp_fn(self.objtrimesh1.vertices,
self.objtrimesh.face_normals,
self.objtrimesh.faces)
self.__floatingposemat40 = []
self.__floatingposemat41 = []
def setUp(self):
meshes = deque()
for filename in os.listdir(TEST_DIR):
ext = os.path.splitext(filename)[-1][1:].lower()
if not ext in trimesh.available_formats():
continue
log.info('Attempting to load %s', filename)
location = os.path.abspath(os.path.join(TEST_DIR, filename))
meshes.append(trimesh.load_mesh(location))
meshes[-1].metadata['filename'] = filename
self.meshes = list(meshes)
def from_file(self,
filename: str,
name: Optional[str] = None,
color: Union[str, Sequence[Union[int,
float]]] = (1, 1, 1, .1),
import_kwargs: Dict = {},
**init_kwargs) -> 'Volume':
""" Load volume from file containing vertices and faces.
For OBJ and STL files this function requires the optional
library.
Parameters
----------
filename : str
File to load from.
import_kwargs
Keyword arguments passed to importer:
- ``json.load`` for JSON file
- ``trimesh.load_mesh`` for OBJ and STL files
**init_kwargs
Keyword arguments passed to navis.Volume upon
initialization.
Returns
-------
navis.Volume
"""
if not os.path.isfile(filename):
raise ValueError('File not found.')
f, ext = os.path.splitext(filename)
if ext == '.json':
return self.from_json(filename=filename,
name=name,
color=color,
import_kwargs=import_kwargs,
**init_kwargs)
try:
import trimesh
except ImportError:
raise ImportError('Unable to import: trimesh missing - please '
'install: "pip install trimesh"')
except BaseException:
raise
tm = trimesh.load_mesh(filename, **import_kwargs)
return self.from_object(tm, name=name, color=color, **init_kwargs)
def fullCurvatureDescriptorValue(specimen, dist=0.5, output_filename=None):
mesh = trimesh.load_mesh(specimen['filename'], process=False)
ariadne = ariaDne(mesh, dist=dist)
if output_filename:
values = np.hstack((ariadne['localDNE'], np.array([0, 0.0008])))
colors = trimesh.visual.interpolate(np.log(1e-6 + values), 'jet')[:-2]
mesh_data = get_mesh_data(specimen['filename'])
mesh_data[0]['vertex_colors'] = colors
render_to_file(output_filename, mesh_data)
return ariadne
def display_last_timestep(with_light=False, with_masses=False):
last_mesh = sorted(glob.glob('output/mesh_*.obj'))[-1]
mesh = trimesh.load_mesh(last_mesh)
if with_light:
last_light = sorted(glob.glob('output/light_*.pkl'))[-1]
with open(last_light, 'rb') as fd:
light = pickle.load(fd)
mesh.visual.vertex_colors = trimesh.visual.interpolate(light /
max(light))
if with_masses:
plot_mass()
return mesh.show()
return mesh.show()
def export_meshes_to_run2D_pkl(in_folder='/Users/amirrahimi/src/3Dshapes/car_train_colored/transformed/', skip_to=None):
skip = True
if skip_to is None:
skip = False
for x in os.listdir(in_folder):
if x == skip_to:
skip = False
if x.endswith('stl') and not skip:
print x
mesh = load_mesh(in_folder + x)
run2D = mesh_to_voxelized_run2D(mesh, max_dim = 200)
with open( in_folder + x[:-3] + 'pkl', 'wb') as f:
pickle.dump(run2D, f, -1)
def add_wall(scene, house_id, room_id, bbox):
# read wall mesh
path_root = f"/shared/data/suncg/room/{house_id}/"
floor_id = f"{room_id}f.obj"
wall_id = f"{room_id}w.obj"
ceiling_id = f"{room_id}c.obj"
T = -(np.array(bbox["min"]) * 0.5 + np.array(bbox["max"]) * 0.5 -
np.array(room_size_cap) * 1.5 * 0.5)
orient = 0
r = R.from_euler("y", orient, degrees=True) # .cpu(), degrees=True)
Rotation = r.as_matrix()
Z = [1, 1, 1]
transform = transforms3d.affines.compose(T, Rotation, Z, S=None)
floor_file = osp.join(path_root, floor_id)
floor_mesh = trimesh.load_mesh(floor_file)
wall_file = osp.join(path_root, wall_id)
wall_mesh = trimesh.load_mesh(wall_file)
# transform the wall
wall_mesh.apply_transform(transform)
scene.add_geometry(wall_mesh)
for i in scene.geometry.items():
bbox_dic[i[0]] = i[1].bounds
floor_mesh.apply_transform(transform)
scene.add_geometry(floor_mesh)
ceiling_file = osp.join(path_root, ceiling_id)
if os.path.isfile(ceiling_file):
ceiling_mesh = trimesh.load_mesh(ceiling_file)
ceiling_mesh.apply_transform(transform)
scene.add_geometry(ceiling_mesh)
return scene, bbox_dic
def __init__(self, base, objpath1, objpath2, nobj=1, ntimes=1):
self.base = base
self.nobj = nobj
self.ntimes = ntimes
self.poscount = 1
self.objnodepath = None
self.workcell = None
# for dbaccess
self.dbobjname = os.path.splitext(os.path.basename(objpath1))[0]
print self.dbobjname
self.smiley = trimesh.load_mesh(objpath1)
self.smileyCount = 0
self.lasttime0 = 0
self.lasttime0rot = 0
self.laststablepos = 0
self.setupODE()
self.addGround()
self.count = 0
self.stableFlag = 0
self.partlist = []
self.worktrimesh = trimesh.load_mesh(objpath2)
self.addworkstl()
self.simcontrolstart = time.time()
self.interval0 = time.time()
self.simdrop = time.time()
self.checkcount = 0
self.body = None
self.preObj()
self.addObj()
taskMgr.add(self.updateODE, "UpdateODE")
def __init__(self, cfg):
# mesh_paths,
# weights_on_models,
# num_layers,
# layer_size,
# layer_center,
# gap_between_layers,
# only_inplane_rotations,
# rotation_axis_range,
# rotation_angle_range,
# ):
meshes = []
unit = cfg.INIT.GRID.MESH_UNIT.lower()
if unit == "m":
scale = 1.
elif unit == "cm":
scale = 0.01
elif unit == "mm":
scale = 0.001
else:
raise ValueError("Wrong mesh unit: {}".format(unit))
for mesh_path in cfg.INIT.GRID.MESH_PATHS:
LOG.info("Loading {}".format(mesh_path))
mesh = trimesh.load_mesh(mesh_path)
if scale != 1.:
mesh.apply_scale(scale)
tmpdir = tempfile.mkdtemp()
trimesh.exchange.urdf.export_urdf(mesh, tmpdir)
prefix = os.path.join(tmpdir, os.path.basename(tmpdir))
urdf_path = prefix + ".urdf"
obj_path = prefix + "_convex_piece_0.obj"
decimated_mesh = trimesh.load_mesh(obj_path)
meshes.append(Mesh(mesh_path, urdf_path, obj_path, np.array(decimated_mesh.vertices)))
self._meshes = meshes
self._cfg = cfg
def __init__(self, param, g_code):
self.data_points = []
self.gc = g_code
self.pr = param
if self.pr.outline == c.STL_FLAG:
self.mesh = trimesh.load_mesh(self.pr.stl_file)
self.partCount = 1 # The current part number
self.layers = {}
""" The dictionary which stores the computed layers. The key is created in
def samplePointsCallback(scene):
if scene.new_index != scene.current_index:
scene.current_index = scene.new_index
mesh = trimesh.load_mesh(scene.sample[scene.current_index]['filename'])
scene.delete_geometry("specimen")
scene.add_geometry(mesh, "specimen")
pointCloud = trimesh.points.PointCloud(getIntersections(mesh))
scene.delete_geometry("samplePoints")
scene.add_geometry(pointCloud, "samplePoints")
print(scene.current_index)
print(scene.sample[scene.current_index])
def loadObjModel(self, ompath):
self.objtrimesh=trimesh.load_mesh(ompath)
# oversegmentation
self.facets, self.facetnormals = self.objtrimesh.facets_over(faceangle=.95, segangle = .95)
# self.facets, self.facetnormals = self.objtrimesh.facets_over(faceangle=.95)
# conventional approach
# self.facets = self.objtrimesh.facets()
# self.facetnormals = []
# for i, faces in enumerate(self.objtrimesh.facets()):
# facetnormal = np.sum(self.objtrimesh.face_normals[faces], axis=0)
# facetnormal = facetnormal/np.linalg.norm(facetnormal)
# self.facetnormals.append(facetnormal)
self.facetcolorarray = pandageom.randomColorArray(self.facets.shape[0])
self.sampleObjModel()
def get_points(obj_fl):
sample_pc = np.zeros((0, 3), dtype=np.float32)
mesh_lst = trimesh.load_mesh(obj_fl, process=False)
if not isinstance(mesh_lst, list):
mesh_lst = [mesh_lst]
for mesh in mesh_lst:
choice = np.random.randint(mesh.vertices.shape[0], size=1000)
sample_pc = np.concatenate((sample_pc, mesh.vertices[choice, ...]),
axis=0) #[choice,...]
# color = [[255,0,0], [0,255,0], [0,0,255], [255, 0, 255]]
color = 255 * np.ones_like(sample_pc, dtype=np.uint8)
color[:, 0] = 0
color[:, 1] = 0
return sample_pc, np.asarray(color, dtype=np.uint8)
def __init__(self, cfg, cfgdata):
self.mesh = as_mesh(trimesh.load_mesh(cfg.path))
vert_center = 0.5 * (self.mesh.vertices.max(axis=0) + self.mesh.vertices.min(axis=0))
# vert_scale = np.linalg.norm(self.mesh.vertices - vert_center, axis=-1).max()
vert_scale = (self.mesh.vertices.max(axis=0) - self.mesh.vertices.min(axis=0)).max() * 0.5
norm_vert = (self.mesh.vertices - vert_center) / vert_scale
self.mesh = trimesh.Trimesh(vertices=norm_vert, faces=self.mesh.faces)
self.tr_max_sample_points = cfg.tr_max_sample_points
self.te_max_sample_points = cfg.te_max_sample_points
self.length = int(cfgdata.length)
# Default display axis order
self.display_axis_order = [0, 1, 2]
def read_3d_obj(fname="lion_data.npy", fname_obj="lion-reference.obj"):
if os.path.isfile(fname):
return np.load(fname)
else:
mesh = trimesh.load_mesh(fname_obj)
a = np.array(mesh.vertices)
x, y, z = -a[:, 0], a[:, 2], a[:, 1]
data = np.array(list(zip(x, y, z)))
np.save(fname, data)
return data
def get_faust_scan_by_id(data_dir, scan_id, part='test', mesh_lib='trimesh'):
"""Get FAUST scan by its id
"""
if part == 'test':
scans_path = os.path.join(data_dir, 'test/scans/')
else:
scans_path = os.path.join(data_dir, 'training/scans/')
mesh_path = os.path.join(scans_path, 'test_scan_%03d.ply' % scan_id)
mesh_scan = trimesh.load_mesh(mesh_path)
return mesh_scan
def cd_cat(cat_id, cat_nm, pred_dir, gt_dir, test_lst_f):
pred_dict = build_file_dict(pred_dir)
sum_cf_loss = 0.
count = 0
with open(test_lst_f, "r") as f:
test_objs = f.readlines()
for obj_id in test_objs:
obj_id = obj_id.rstrip('\r\n')
if obj_id not in pred_dict:
continue
elif len(pred_dict[obj_id]
) == 0: #if the predicted mesh do not exists, skip
continue
src_path = os.path.join(gt_dir, obj_id, "skeleton.h5")
verts_batch = np.zeros(
(FLAGS.view_num + 1, FLAGS.num_points_gt, 3), dtype=np.float32)
pointcloud_h5 = h5py.File(src_path, 'r')
pointcloud = pointcloud_h5['skeleton'][:].astype(np.float32)
#choice = np.random.randint(pointcloud.shape[0], size=FLAGS.num_points_gt)
#verts_batch[0, ...] = pointcloud[choice,...]
verts_batch[0, ...] = pointcloud[:FLAGS.num_points_gt, ...]
pred_path_lst = pred_dict[obj_id]
pred_path_lst = random.sample(pred_path_lst, FLAGS.view_num)
for i in range(len(pred_path_lst)):
pred_mesh_fl = pred_path_lst[i]
mesh1 = trimesh.load_mesh(pred_mesh_fl)
num_left = FLAGS.num_points_pred - mesh1.vertices.shape[0]
if num_left > 0:
samples = np.zeros((0, 3), dtype=np.float32)
choice = np.random.randint(mesh1.vertices.shape[0],
size=num_left)
points = mesh1.vertices[choice, ...]
samples = np.append(samples, points, axis=0)
verts_batch[i + 1, :FLAGS.num_points_pred] = np.append(
samples, mesh1.vertices, axis=0)
else:
choice = np.arange(FLAGS.num_points_pred)
points = mesh1.vertices[choice, ...]
verts_batch[i + 1, :FLAGS.num_points_pred] = points
avg_cf_loss_val = get_chamfer_distance(verts_batch)
sum_cf_loss += avg_cf_loss_val
print(
str(count) + " ", "cat_id {}, obj_id {}, avg cf:{}".format(
cat_id, obj_id, str(avg_cf_loss_val)))
count += 1
print("cat_nm:{}, cat_id:{}, avg_cf:{}, count:{}".format(
cat_nm, cat_id, sum_cf_loss / count, count))
log_string("cat_nm:{}, cat_id:{}, avg_cf:{}, count:{}".format(
cat_nm, cat_id, sum_cf_loss / count, count))
def __init__(self, mesh_file, scaling):
# type: (str, np._ArrayLike) -> None
import trimesh
self.mesh = trimesh.load_mesh(mesh_file)
self.num_vertices = np.size(self.mesh.vertices)
self.normals = self.mesh.vertex_normals.reshape(
-1).tolist() #.flatten()
self.faces = self.mesh.faces.reshape(-1).tolist()
self.vertices = self.mesh.vertices
self.vertices[:, 0] *= scaling[0]
self.vertices[:, 1] *= scaling[1]
self.vertices[:, 2] *= scaling[2]
self.vertices = self.vertices.reshape(-1).tolist()
def create_map_from_obj(fn, count=10000, size=32):
mesh = trimesh.load_mesh(fn)
nodes, face_index = trimesh.sample.sample_surface_even(mesh, count)
min_coordinate = nodes.min()
max_coordinate = nodes.max()
#normalize nodes
nodes = ((nodes - min_coordinate) /
(max_coordinate - min_coordinate) / 2 + 0.25) * size
np.savetxt("gt_pc.txt", nodes, delimiter=';')
return nodes
def fvtostl(self):
points = self.points
faces = self.decomposition.surface.surface_sampler_data
# add vertex and surface to mesh
# mesh = om.TriMesh()
vertex = []
for p in points:
vertex.append(p)
vertex_np_array = np.array(vertex)
face = []
for f in faces: # for each face
for tri in f: # for triangle in face
face.append([tri[0], tri[1], tri[2]])
face_np_array = np.array(face)
obj = mesh.Mesh(np.zeros(face_np_array.shape[0],
dtype=mesh.Mesh.dtype))
for i, f in enumerate(face_np_array):
for j in range(3):
obj.vectors[i][j] = vertex_np_array[f[j], :]
# fn = bertini_real.util.next_filenumber()
fileName = os.getcwd().split(os.sep)[-1]
obj.save('a' + fileName + '.stl')
normmesh = trimesh.load_mesh('a' + fileName + '.stl')
normmesh.fix_normals()
for facet in normmesh.facets:
normmesh.visual.face_colors[facet] = trimesh.visual.random_color()
normmesh.show()
normmesh.export(file_obj='anorm' + fileName + '.stl', file_type='stl')
# fix_normals(normmesh,True)
print("Export successfully")
def __getVolume__(self, path):
mesh = trimesh.load_mesh(path)
extend = max(mesh.extents)
volume = mesh.voxelized(round(extend / self.side_len, 3)).matrix
suma = max(volume.shape) - np.array(volume.shape)
volume = np.pad(volume, max(suma), mode="constant")
(x, y, z) = map(float, volume.shape)
volume = nd.zoom(
volume.astype(float),
(self.side_len / x, self.side_len / y, self.side_len / z),
order=1,
mode='constant',
cval=0)
volume[np.nonzero(volume)] = 1.0
return torch.FloatTensor(volume)
def test_rps(self):
dimension = (1000,3)
sphere = trimesh.load_mesh(location('unit_sphere.STL'))
rays_ori = np.random.random(dimension)
rays_dir = np.tile([0,0,1], (dimension[0], 1))
rays_ori[:,2] = -5
rays = np.column_stack((rays_ori, rays_dir)).reshape((-1,2,3))
# force ray object to allocate tree before timing it
tree = sphere.ray.tree
tic = time.time()
sphere.ray.intersects_id(rays)
toc = time.time()
rps = dimension[0] / (toc-tic)
log.info('Measured %f rays/second', rps)
def __init__(self, objpath, handpkg):
"""
initialization
:param objpath: path of the object
author: weiwei
date: 20161215, osaka
"""
self.objtrimesh = trimesh.load_mesh(objpath)
self.dbobjname = os.path.splitext(os.path.basename(objpath))[0]
self.handpkg = handpkg
self.handname = handpkg.getHandName()
def write_objfile(pcaBase, pcaCoeff, mean_sample, ratio, filename, gender):
"""reconstruction mesh as obj file
parameters
----------
pcaBase: eigenvector of covariance matrix
num_feature * k
pcaCoeff: the coefficient of base space
1 * k
mean_sample: average of all samples
1 * num_feature
ratio: body height (pca perform on nomalization body height, 1 meters)
float (meter)
filename: write to file, include path
gender : female or male
return
--------
nn output parameters, results are written into file
"""
if gender == 'female':
mesh = trimesh.load_mesh('./data/input/female/PCA/averHuman.obj',
process=False)
else:
mesh = trimesh.load_mesh('./data/input/male/PCA/averHuman.obj',
process=False)
vertices_t = mesh.vertices
num_vertices, num_dim = vertices_t.shape[0], vertices_t.shape[1]
averX = mean_sample.reshape((num_vertices, num_dim), order='F')
pcaRecon = np.matmul(pcaCoeff, pcaBase.T)
recon_sample = pcaRecon.reshape((num_vertices, num_dim), order='F')
recon_points = ratio * (recon_sample + averX)
mesh.vertices = recon_points
mesh.export(filename)
def loadObjModel(self, ompath, objrotmat, objposmat):
self.objtrimesh = trimesh.load_mesh(ompath)
#add pos and rot to origin trimensh
self.objtrimesh.vertices = np.transpose(
np.dot(objrotmat, np.transpose(self.objtrimesh.vertices)))
self.objtrimesh.vertices = self.objtrimesh.vertices + objposmat
# oversegmentation
self.facets, self.facetnormals = self.objtrimesh.facets_over(
faceangle=.95, segangle=.95)
self.facetcolorarray = pandageom.randomColorArray(self.facets.shape[0])
self.sampleObjModel()
def loadmesh(self, meshfile=None):
try:
if meshfile is None:
meshfile = 'trigrid-mesh.json'
meshfile = meshfile[0]
self.mesh = trimesh.load_mesh(meshfile)
self.mesh.face_attributes['color'] = [
np.random.uniform(0, 1, (3, ))
for _ in range(len(self.mesh.faces))
]
print('mesh loaded from {0}, vertices = {1}, faces = {2}'.format(
meshfile, self.mesh.vertices.shape[0],
self.mesh.faces.shape[0]))
except Exception as e:
print('loadmesh failed', e)
def test_rps(self):
dimension = (1000, 3)
sphere = trimesh.load_mesh(location('unit_sphere.STL'))
rays_ori = np.random.random(dimension)
rays_dir = np.tile([0, 0, 1], (dimension[0], 1))
rays_ori[:, 2] = -5
rays = np.column_stack((rays_ori, rays_dir)).reshape((-1, 2, 3))
# force ray object to allocate tree before timing it
tree = sphere.triangles_tree()
tic = time.time()
sphere.ray.intersects_id(rays)
toc = time.time()
rps = dimension[0] / (toc - tic)
log.info('Measured %f rays/second', rps)
def __init__(self, objpath, handpkg):
"""
initialization
:param objpath: path of the object
author: weiwei
date: 20161215, osaka
"""
self.objtrimesh = trimesh.load_mesh(objpath)
self.dbobjname = os.path.splitext(os.path.basename(objpath))[0]
self.handpkg = handpkg
self.handname = handpkg.getHandName()
def do_cut(axis, pos, name, engine='blender', mat=None, fix=False):
done = []
print "loading "+name+" ..."
m = trimesh.load_mesh(name)
m.process() # basic cleanup
if mat is not None: m.transform(mat)
if fix:
m.fix_normals()
print "is watertight: ", m.fill_holes()
m.process() # basic cleanup
# print "... done."
bbox = copy.deepcopy(m.bounds)
bbox[0][0] -= bbox_eps
bbox[0][1] -= bbox_eps
bbox[0][2] -= bbox_eps
bbox[1][0] += bbox_eps
bbox[1][1] += bbox_eps
bbox[1][2] += bbox_eps
print m.bounds
print bbox
boxl = []
if axis == 'x': boxl = cutboxes_x(m.bounds, pos)
if axis == 'y': boxl = cutboxes_y(m.bounds, pos)
if axis == 'z': boxl = cutboxes_z(m.bounds, pos)
base,suf = name.rsplit('.', 1)
for b in range(len(boxl)):
outname=base+"_"+axis+str(b+1)+"."+suf
print "cutting "+outname+"..."
boxl[b].process() # basic cleanup
mcut = m.intersection(boxl[b], engine=engine)
mcut.process()
if fix:
mcut.fix_normals()
print "is watertight: ", m.fill_holes()
mcut.process()
print "saving "+outname+" ..."
try:
# 1.15.16 syntax
open(outname, "wb+").write(trimesh.io.export.export_stl(mcut))
except:
# old style
trimesh.io.export.export_stl(mcut, open(outname, "wb+"))
# print "... done."
done.append(outname)
return done
def open_mesh(self):
""" add a mesh to the pyqt frame """
global mesh, mesh_vol
# open file
file_info = QtWidgets.QFileDialog.getOpenFileName()
print(file_info)
file_path = file_info[0]
# determine file type and if conversion needed
file_dir, file_name = os.path.split(file_path)
mesh_name, mesh_type = os.path.splitext(file_name)
# convert mesh file type
#if ext != ".vtk" or ext != ".VTK":
# mesh = meshio.read(file_path)
# meshio.write(root + ".vtk", mesh)
# mesh = pv.read(head + "/" + root + ".vtk")
# need to store elsewhere or delete .vtk file in the future
#else:
# mesh = pv.read(file_path)
# read mesh & transform according to principal axes
pre = trimesh.load_mesh(file_path)
orient = pre.principal_inertia_transform
pre = pre.apply_transform(orient)
pre.export('data/' + mesh_name + '_oriented.STL')
mesh = pv.read('data/' + mesh_name + '_oriented.STL')
# print mesh info
print("Mesh Name:", mesh_name)
print("Mesh Type:", mesh_type[1:])
# show transformed mesh
#self.plotter.add_mesh(mesh, show_edges=True, color="w", opacity=0.6)
# reset plotter
self.reset_plotter()
# find mesh centroid and translate the mesh so that's the origin
self.centroid()
# show bounding box
# self.plotter.add_bounding_box(opacity=0.5, color="y")
# mesh volume
mesh_vol = float(format(mesh.volume, ".5f"))
print("Mesh Volume:", mesh_vol)
def __init__(self, objpath, robot, handpkg, gdb, offset = -55):
self.objtrimesh=trimesh.load_mesh(objpath)
self.handpkg = handpkg
self.handname = handpkg.getHandName()
# for dbaccess
self.dbobjname = os.path.splitext(os.path.basename(objpath))[0]
# regg = regrip graph
self.regg = nx.Graph()
self.ndiscreterot = 0
self.nplacements = 0
self.globalgripids = []
# for removing the grasps at start and goal
self.robothand = handpkg.newHandNM(hndcolor=[1, 0, 0, .1])
# plane to remove hand
self.bulletworld = BulletWorld()
self.planebullnode = cd.genCollisionPlane(offset = offset)
self.bulletworld.attachRigidBody(self.planebullnode)
# add tabletop plane model to bulletworld
# dont forget offset
# this_dir, this_filename = os.path.split(__file__)
# ttpath = Filename.fromOsSpecific(os.path.join(os.path.split(this_dir)[0]+os.sep, "grip", "supports", "tabletop.egg"))
# self.ttnodepath = NodePath("tabletop")
# ttl = loader.loadModel(ttpath)
# ttl.instanceTo(self.ttnodepath)
self.startnodeids = None
self.goalnodeids = None
self.shortestpaths = None
self.gdb = gdb
self.robot = robot
# load retraction distances
self.rethandx, self.retworldz, self.retworlda, self.worldz = self.gdb.loadIKRet()
# worlda is default for the general grasps on table top
# for assembly at start and goal, worlda is computed by assembly planner
self.worlda = Vec3(0,0,1)
# loadfreeairgrip
self.__loadFreeAirGrip()
self.__loadGripsToBuildGraph()
def genObjmnp(objpath, color = Vec4(1,0,0,1)):
"""
gen objmnp
:param objpath:
:return:
"""
objtrimesh = trimesh.load_mesh(objpath)
geom = packpandageom(objtrimesh.vertices,
objtrimesh.face_normals,
objtrimesh.faces)
node = GeomNode('obj')
node.addGeom(geom)
objmnp = NodePath('obj')
objmnp.attachNewNode(node)
objmnp.setColor(color)
objmnp.setTransparency(TransparencyAttrib.MAlpha)
return objmnp
def loadObjModel(self, ompath):
self.objtrimesh=trimesh.load_mesh(ompath)
# oversegmentation
self.facets, self.facetnormals = self.objtrimesh.facets_over(faceangle=.95)
self.facetcolorarray = pandageom.randomColorArray(self.facets.shape[0])
self.sampleObjModel()
# prepare the model for collision detection
self.objgeom = pandageom.packpandageom(self.objtrimesh.vertices, self.objtrimesh.face_normals, self.objtrimesh.faces)
self.objmeshbullnode = cd.genCollisionMeshGeom(self.objgeom)
self.bulletworld.attachRigidBody(self.objmeshbullnode)
# object center
self.objcenter = [0,0,0]
for pnt in self.objtrimesh.vertices:
self.objcenter[0]+=pnt[0]
self.objcenter[1]+=pnt[1]
self.objcenter[2]+=pnt[2]
self.objcenter[0] = self.objcenter[0]/self.objtrimesh.vertices.shape[0]
self.objcenter[1] = self.objcenter[1]/self.objtrimesh.vertices.shape[0]
self.objcenter[2] = self.objcenter[2]/self.objtrimesh.vertices.shape[0]
def load_model(self, path, obj_idx=0):
record = spio.loadmat(exemplar_annotation_root + path + '.mat', struct_as_record=True)
objects = record['record']['objects'][0,0]
classes = objects['class'][0]
cur_obj_idx = -1
mesh = None
for i, x in enumerate(classes):
if x == 'car':
car = objects[0,i]
if car['viewpoint'].shape == (1,1):
cur_obj_idx = cur_obj_idx + 1
if cur_obj_idx != obj_idx:
continue
viewpoint = car['viewpoint']
self.azimuth = viewpoint['azimuth'][0,0][0,0]
self.elevation = viewpoint['elevation'][0,0][0,0]
self.distance = viewpoint['distance'][0,0][0,0]
self.px = viewpoint['px'][0,0][0,0]
self.py = viewpoint['py'][0,0][0,0]
self.yaw = viewpoint['theta'][0,0][0,0]
self.focal = 3000
cad_idx = car['cad_index'][0,0]-1
print 'loading mesh car%d_t.stl' % cad_idx
far = 100
near = 0.001
px = self.px
py = self.py
focal = self.focal
self.near = near #TODO can do it by computing max/min of mesh Zs
self.far = far
self.perspMat = np.array([focal, 0, 0, 0, 0, -focal, 0, 0, -px, -py, near+far, -1, 0, 0, near*far, 0])
mesh = load_mesh(cad_transformed_root + 'car%d_t.stl' % cad_idx)
apply_transformations( mesh, self.azimuth, self.elevation, self.yaw, self.distance)
mesh.export(file_obj='transformed.stl')
self.meshes.append(mesh)
if mesh is not None:
self.prepare_gl_buffers(mesh)
else:
print 'Error mesh is None!'
def __init__(self, gdb, asspath, handpkg):
"""
:param asspath: an assembly path, see the definition in the leading text
:param gdb:
author: weiwei
date: 20170227
"""
self.handpkg = handpkg
self.objTrimeshList = []
self.objFAGList = [] # F*g = free air grip
self.objRotmat4List = []
for objpath, rotmat4 in asspath:
self.objTrimeshList.append(trimesh.load_mesh(objpath))
curRotmat4 = rotmat4
for prevRotmat4 in self.objRotmat4List[::-1]:
curRotmat4 = prevRotmat4*curRotmat4
self.objRotMat4List.append(curRotmat4)
dbobjname = os.path.splitext(os.path.basename(objpath))[0]
self.objFAGList.append(FreeAirGrip(gdb, dbobjname, self.handpkg.getHandName()))
pass
import numpy as np
import sys
import trimesh
# normalize a vertex (to the range 0-255)
def normalize(v):
return [int(v[0]), int(v[1]), int(v[2])] # XXX
if len(sys.argv) < 2:
print ("Usage: {0} model_filename\n", sys.argv[0])
exit(0)
mesh = trimesh.load_mesh(sys.argv[1])
print len(mesh.vertices)
verts = mesh.vertices
faces = mesh.faces
for v0, v1, v2 in faces:
o_face = [normalize(verts[v0]), normalize(verts[v1]), normalize(verts[v2])]
for f in o_face:
print ("{0},{1},{2},{3}\n", f[0], f[1], f[2], 0xFF)
print ("{0},{1},{2},{3}\n", 0xFF, 0xFF, 0xFF, 0xFF)
Take a mesh with multiple bodies, take the convex hull
of each body, then combine them back into one mesh.
Useful for generating collision models of an object.
'''
import sys
import trimesh
import numpy as np
if __name__ == '__main__':
# attach to trimesh logs
trimesh.util.attach_to_log()
# load the mesh from filename
# file objects are also supported
mesh = trimesh.load_mesh('../models/box.STL')
# split the mesh into connected components of the face adjacency graph.
# splitting sometimes produces non- watertight meshes
# though the splitter will try to repair single quad and
# single triangle holes, in our case here we are going to be
# taking convex hulls anyway, so there is no reason to not discard
# the non- watertight bodies
meshes = mesh.split(only_watertight=False)
# the convex hull of every component
meshes_convex = [i.convex_hull for i in meshes]
# combine all components into one mesh
convex_combined = np.sum(meshes_convex)
s = ode.Space()
cgroup = ode.JointGroup()
def callback(args,g1,g2):
contacts = ode.collide(g1,g2)
world,cgroup = args
for c in contacts:
c.setBounce(.9)
c.setMu(1000)
j = ode.ContactJoint(world,cgroup,c)
j.attach(g1.getBody(),g2.getBody())
floor = ode.GeomPlane(s, (0,0,1), 0)
mesh = trimesh.load_mesh('unit_sphere.stl')
mdat = ode.TriMeshData()
mdat.build(mesh.vertices,mesh.faces)
I = mesh.moment_inertia
#print I
mass = ode.Mass()
mass.setParameters(mesh.volume,0.,0.,0.,
I[0][0],I[1][1],I[2][2],I[0][1],I[0][2],I[1][2])
b.setMass(mass)
g = ode.GeomTriMesh(mdat,s)
g.setBody(b)
b.setPosition((0,0,2))
'''
examples/section.py
Slice a mesh into 2D sections, like you would do to
write a basic 3D printing driver.
'''
import trimesh
import numpy as np
if __name__ == '__main__':
# load the mesh from filename
# file objects are also supported
mesh = trimesh.load_mesh('../models/featuretype.STL')
# we're going to slice the mesh into evenly spaced chunks along z
# this takes the (2,3) bounding box and slices it into [minz, maxz]
z_extents = mesh.bounds[:,2]
# 10 evenly spaced z values, between the extents of the mesh
z_levels = np.linspace(*z_extents, num=10)
# create an array to hold the section objects
sections = [None] * len(z_levels)
for i, z in enumerate(z_levels):
# this will return a Path3D object, each of which will
# have curves in 3D space
sections[i] = mesh.section(plane_origin = [0,0,z],
plane_normal = [0,0,1])
