def write(self):
"""
Writes stable pose data for meshes in the input directory to an stp file.
path -- path to directory containing meshes to be converted to .stp
"""
min_prob_str = sys.argv[1]
min_prob = float(min_prob_str)
mesh_index = 1
mesh_files = [filename for filename in os.listdir(sys.argv[2]) if filename[-4:] == ".obj"]
for filename in mesh_files:
print "Writing file: " + sys.argv[2] + "/" + filename
ob = obj_file.ObjFile(sys.argv[2] + "/" + filename)
mesh = ob.read()
mesh.remove_unreferenced_vertices()
prob_mapping, cv_hull = st.compute_stable_poses(mesh), mesh.convex_hull()
R_list = []
for face, p in prob_mapping.items():
if p >= min_prob:
vertices = [cv_hull.vertices()[i] for i in face]
basis = st.compute_basis(vertices, cv_hull)
R_list.append([p, basis])
self.write_mesh_stable_poses(mesh, filename, min_prob)
def assign_components(path):
"""
Sets values for component attribute of all meshes in an input directory.
Utilizes breadth first search to determine connected components and assign values accordingly.
Returns a dictionary mapping component numbers to indexes of all the vertices contained in that component.
path -- path to directory containing mesh objects as .obj
"""
mesh_files = [filename for filename in os.listdir(path) if filename[-4:] == ".obj"]
mesh_components_list = []
for filename in mesh_files:
print "Assigning components: " + path + "/" + filename
ob = obj_file.ObjFile(path + "/" + filename)
mesh = ob.read()
mesh.remove_unreferenced_vertices()
# generate graph and connect nodes appropriately
nodes = []
for triangle in mesh.triangles():
node_0 = Node(triangle[0])
node_1 = Node(triangle[1])
node_2 = Node(triangle[2])
node_0.connect_nodes(node_1)
node_1.connect_nodes(node_2)
node_2.connect_nodes(node_0)
nodes.append(node_0)
nodes.append(node_1)
nodes.append(node_2)
# breadth-first-search to mark elements of each component
component_counter = 0
component_to_index = {}
while nodes != []:
q = Queue.Queue()
q.put(nodes[0])
while (q.qsize() != 0):
curr = q.get()
curr.visited = True;
if curr in nodes:
nodes.remove(curr)
else:
continue
for child in curr.children:
if not child.visited:
q.put(child)
if component_counter in component_to_index:
if curr.index not in component_to_index[component_counter]:
component_to_index[component_counter].append(curr.index)
else:
component_to_index[component_counter] = [curr.index]
component_counter += 1
mesh_components_list.append(component_to_index)
return mesh_components_list
def transform_meshes(path):
"""
Transforms meshes in the directory given by path based on their highest probability stable poses.
path -- path leading to directory containing meshes
num_poses -- variable denoting number of desired poses per object
"""
f = open()
# write header
f.write('###########################################################\n')
f.write('# POSE TRANSFORM DATA file generated by UC Berkeley Automation Sciences Lab\n')
f.write('#\n')
min_prob = sys.argv[1]
for filename in os.listdir(path):
if filename[-4:] == ".obj":
ob = obj_file.ObjFile(path + "/" + filename)
mesh = ob.read()
mesh.remove_unreferenced_vertices()
prob_mapping, cv_hull = compute_stable_poses(mesh), mesh.convex_hull()
R_list = []
for face, p in prob_mapping.items():
if p >= min_prob:
R_list.append([p, compute_basis([cv_hull.vertices()[i] for i in face])])
# write necessary data to compute each pose (R and pose probability)
for i in range(len(R_list)):
f.write('# Pose ' + str(i + 1) + ':\n')
f.write('# Probability: ' + str(R_list[i][0]) + '\n')
for p in range(3):
f.write(str(R_list[i][1][p][0]) + ' ' + str(R_list[i][1][p][1]) + ' ' + str(R_list[i][1][p][2]) + '\n')
f.write('#\n')
f.write('###########################################################\n')
f.write('\n')
def transform_meshes(path):
"""
Transforms meshes in the directory given by path based on their highest probability stable poses.
path -- path leading to directory containing meshes
num_poses -- variable denoting number of desired poses per object
"""
f = open()
# write header
f.write('###########################################################\n')
f.write('# POSE TRANSFORM DATA file generated by UC Berkeley Automation Sciences Lab\n')
f.write('#\n')
min_prob = sys.argv[1]
for filename in os.listdir(path):
if filename[-4:] == ".obj":
ob = obj_file.ObjFile(path + "/" + filename)
mesh = ob.read()
mesh.remove_unreferenced_vertices()
prob_mapping, cv_hull = compute_stable_poses(mesh), mesh.convex_hull()
R_list = []
for face, p in prob_mapping.items():
if p >= min_prob:
R_list.append([p, compute_basis([cv_hull.vertices()[i] for i in face])])
# write necessary data to compute each pose (R and pose probability)
for i in range(len(R_list)):
f.write('# Pose ' + str(i + 1) + ':\n')
f.write('# Probability: ' + str(R_list[i][0]) + '\n')
for p in range(3):
f.write(str(R_list[i][1][p][0]) + ' ' + str(R_list[i][1][p][1]) + ' ' + str(R_list[i][1][p][2]) + '\n')
f.write('#\n')
f.write('###########################################################\n')
f.write('\n')
