From 58617911b4921a4799aaad85f453f060fdb84c6a Mon Sep 17 00:00:00 2001 From: dan Date: Thu, 28 Oct 2021 12:24:38 -0400 Subject: [PATCH 01/11] Bump meshcat to most recent --- src/meshcat/viewer | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/meshcat/viewer b/src/meshcat/viewer index a03d1ab..675a312 160000 --- a/src/meshcat/viewer +++ b/src/meshcat/viewer @@ -1 +1 @@ -Subproject commit a03d1abf636c059166132a6d9434a164a155ecbe +Subproject commit 675a312a2e91921d786fe83c49b492f02c1fc6c3 From 1b2bd00596ff8d94718c69d0319894818c62c927 Mon Sep 17 00:00:00 2001 From: dan Date: Fri, 3 Dec 2021 11:44:47 -0500 Subject: [PATCH 02/11] Merged in rdeits:master --- src/meshcat/viewer | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/meshcat/viewer b/src/meshcat/viewer index 978cb8f..675a312 160000 --- a/src/meshcat/viewer +++ b/src/meshcat/viewer @@ -1 +1 @@ -Subproject commit 978cb8f519f9bb540e94b7f97a39ada4d7916b7c +Subproject commit 675a312a2e91921d786fe83c49b492f02c1fc6c3 From d4affe9e0a8818dfaf2f7aac1671db5bc97ba20e Mon Sep 17 00:00:00 2001 From: dan Date: Fri, 18 Mar 2022 17:24:07 -0400 Subject: [PATCH 03/11] Initial textured/colored DAE load --- examples/color_texture_dae_example.ipynb | 169 +++++++++++++++++++++++ examples/demo.ipynb | 109 +++++++++++---- src/meshcat/commands.py | 7 +- src/meshcat/geometry.py | 80 ++++++++++- 4 files changed, 331 insertions(+), 34 deletions(-) create mode 100644 examples/color_texture_dae_example.ipynb diff --git a/examples/color_texture_dae_example.ipynb b/examples/color_texture_dae_example.ipynb new file mode 100644 index 0000000..3ad0d09 --- /dev/null +++ b/examples/color_texture_dae_example.ipynb @@ -0,0 +1,169 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 1, + "id": "7af95cc4", + "metadata": {}, + "outputs": [], + "source": [ + "import numpy as np\n", + "import os\n", + "import time\n", + "\n", + "import meshcat" + ] + }, + { + "cell_type": "code", + "execution_count": 2, + "id": "a41a4c53", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "You can open the visualizer by visiting the following URL:\n", + "http://127.0.0.1:7000/static/\n" + ] + }, + { + "data": { + "text/plain": [ + " at path: >" + ] + }, + "execution_count": 2, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "# Create a new visualizer\n", + "vis = meshcat.Visualizer()\n", + "vis.open()" + ] + }, + { + "cell_type": "code", + "execution_count": 3, + "id": "0082535d", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "'c:\\\\code\\\\dan\\\\meshcat-python\\\\src\\\\meshcat\\\\viewer'" + ] + }, + "execution_count": 3, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "meshcat.viewer_assets_path()" + ] + }, + { + "cell_type": "code", + "execution_count": 4, + "id": "0b84e1a5", + "metadata": {}, + "outputs": [], + "source": [ + "dae_path = r\"G:\\My Drive\\POLARWORKS_DRIVE\\27_SPRINTS\\220120 SPRINT\\3D_Assets\\Collada_Components\\skiver_img_map\\skiver_img_map.dae\"" + ] + }, + { + "cell_type": "code", + "execution_count": 5, + "id": "a248c7f1", + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Found image resource names: ['skiver_textures.png']\n", + "Seeking images in G:\\My Drive\\POLARWORKS_DRIVE\\27_SPRINTS\\220120 SPRINT\\3D_Assets\\Collada_Components\\skiver_img_map\n" + ] + } + ], + "source": [ + "textured_dae = meshcat.geometry.DaeMeshFileObject.from_file(dae_path, verbose=True)" + ] + }, + { + "cell_type": "code", + "execution_count": 6, + "id": "6955e7d6", + "metadata": {}, + "outputs": [], + "source": [ + "vis['skiver'].set_object(textured_dae)" + ] + }, + { + "cell_type": "code", + "execution_count": 7, + "id": "e0829a25", + "metadata": {}, + "outputs": [], + "source": [ + "cart_path = r\"G:\\My Drive\\POLARWORKS_DRIVE\\27_SPRINTS\\220120 SPRINT\\3D_Assets\\Collada_Components\\rcs_cart_v2_with_fence_no_sidewalls.dae\"" + ] + }, + { + "cell_type": "code", + "execution_count": 8, + "id": "57f2af99", + "metadata": {}, + "outputs": [], + "source": [ + "colored_cart = meshcat.geometry.DaeMeshFileObject.from_file(cart_path)\n", + "vis['cart'].set_object(colored_cart)" + ] + }, + { + "cell_type": "code", + "execution_count": 9, + "id": "d231f216", + "metadata": {}, + "outputs": [], + "source": [ + "vis.delete()" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "b1ae923b", + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.8.8" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +} diff --git a/examples/demo.ipynb b/examples/demo.ipynb index a3c6369..a747af5 100644 --- a/examples/demo.ipynb +++ b/examples/demo.ipynb @@ -9,7 +9,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 1, "metadata": {}, "outputs": [], "source": [ @@ -24,9 +24,18 @@ }, { "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], + "execution_count": 2, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "You can open the visualizer by visiting the following URL:\n", + "http://127.0.0.1:7000/static/\n" + ] + } + ], "source": [ "# Create a new visualizer\n", "vis = meshcat.Visualizer()" @@ -41,9 +50,20 @@ }, { "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], + "execution_count": 3, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + " at path: >" + ] + }, + "execution_count": 3, + "metadata": {}, + "output_type": "execute_result" + } + ], "source": [ "vis.open()" ] @@ -57,9 +77,20 @@ }, { "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], + "execution_count": 4, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "'http://127.0.0.1:7000/static/'" + ] + }, + "execution_count": 4, + "metadata": {}, + "output_type": "execute_result" + } + ], "source": [ "vis.url()" ] @@ -73,7 +104,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 5, "metadata": {}, "outputs": [], "source": [ @@ -89,7 +120,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 6, "metadata": {}, "outputs": [], "source": [ @@ -107,9 +138,27 @@ }, { "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], + "execution_count": 7, + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "\n", + "
\n", + " \n", + "
\n", + " " + ], + "text/plain": [ + "" + ] + }, + "execution_count": 7, + "metadata": {}, + "output_type": "execute_result" + } + ], "source": [ "vis.jupyter_cell()" ] @@ -130,7 +179,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 8, "metadata": {}, "outputs": [], "source": [ @@ -146,7 +195,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 9, "metadata": {}, "outputs": [], "source": [ @@ -166,7 +215,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 10, "metadata": {}, "outputs": [], "source": [ @@ -182,7 +231,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 11, "metadata": {}, "outputs": [], "source": [ @@ -199,7 +248,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 12, "metadata": {}, "outputs": [], "source": [ @@ -217,7 +266,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 13, "metadata": {}, "outputs": [], "source": [ @@ -238,7 +287,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 14, "metadata": {}, "outputs": [], "source": [ @@ -254,7 +303,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 15, "metadata": {}, "outputs": [], "source": [ @@ -272,7 +321,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 16, "metadata": {}, "outputs": [], "source": [ @@ -284,7 +333,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 17, "metadata": {}, "outputs": [], "source": [ @@ -300,7 +349,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 21, "metadata": {}, "outputs": [], "source": [ @@ -325,7 +374,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 22, "metadata": {}, "outputs": [], "source": [ @@ -338,7 +387,7 @@ }, { "cell_type": "code", - "execution_count": null, + "execution_count": 20, "metadata": {}, "outputs": [], "source": [ @@ -394,7 +443,7 @@ ], "metadata": { "kernelspec": { - "display_name": "Python 3", + "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, @@ -408,7 +457,7 @@ "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", - "version": "3.5.2" + "version": "3.8.8" } }, "nbformat": 4, diff --git a/src/meshcat/commands.py b/src/meshcat/commands.py index 793ac40..f64a05f 100644 --- a/src/meshcat/commands.py +++ b/src/meshcat/commands.py @@ -1,7 +1,6 @@ -from .geometry import Geometry, Object, Mesh, MeshPhongMaterial, OrthographicCamera, PerspectiveCamera, PointsMaterial, Points +from .geometry import Geometry, Object, Mesh, MeshPhongMaterial, OrthographicCamera, PerspectiveCamera, PointsMaterial, Points, MeshFileObject from .path import Path - class SetObject: __slots__ = ["object", "path"] def __init__(self, geometry_or_object, material=None, path=None): @@ -9,6 +8,10 @@ def __init__(self, geometry_or_object, material=None, path=None): if material is not None: raise(ValueError("Please supply either an Object OR a Geometry and a Material")) self.object = geometry_or_object + elif isinstance(geometry_or_object, MeshFileObject): + if material is not None: + raise(ValueError("MeshFileObject does not support setting a material, it is for reading materials/textures from files.")) + self.object = geometry_or_object elif isinstance(geometry_or_object, (OrthographicCamera, PerspectiveCamera)): self.object = geometry_or_object else: diff --git a/src/meshcat/geometry.py b/src/meshcat/geometry.py index 1dfc845..d9d3244 100644 --- a/src/meshcat/geometry.py +++ b/src/meshcat/geometry.py @@ -3,6 +3,9 @@ from io import StringIO, BytesIO import umsgpack import numpy as np +import xml.etree.ElementTree as Et +import base64 +import os from . import transformations as tf @@ -17,7 +20,6 @@ def lower_in_object(self, object_data): object_data.setdefault(self.field, []).append(self.lower(object_data)) return self.uuid - class Geometry(ReferenceSceneElement): field = "geometries" @@ -250,7 +252,7 @@ def lower(self): u"matrix": list(self.geometry.intrinsic_transform().flatten()) } } - self.geometry.lower_in_object(data) + self.geometry.lower_in_object(data) #this puts the actual data into geometries list, hmm self.material.lower_in_object(data) return data @@ -380,6 +382,43 @@ def data_from_stream(stream): return data +#we can't make a MeshFileObject that inherits from Object because we need data and resources and no need for material, geom uuids +class MeshFileObject(SceneElement): + """ + Proposed class to introduce _meshfile_object that loads colors, textures, etc. from file + + I don't like the naming here because it sounds like it should inherit from Object but + it's more sitting next to Object at the same level. + + It only gets a UUID from SceneElement, doesn't have a lower_in_object() method but + doesn't seem to need it (since data, resources are actually the contents not a UUID reference) + """ + def __init__(self, contents, mesh_format, image_resources={}): + super(MeshFileObject, self).__init__() + self.contents = contents + self.mesh_format = mesh_format + self.image_resources = image_resources + + def lower(self): + data = { + u"metadata": { + u"version": 4.5, + u"type": u"Object", + }, + u"geometries": [], + u"materials": [], + u"object": { + u"uuid": self.uuid, + u"type": u"_meshfile_object", + u"format": self.mesh_format, + u"data": self.contents, + u"resources": self.image_resources + #u'matrix': TODO + } + } + # don't need lower_in_object() I don't think + return data + class MeshGeometry(Geometry): def __init__(self, contents, mesh_format): super(MeshGeometry, self).__init__() @@ -408,6 +447,43 @@ def from_file(fname): def from_stream(f): return MeshGeometry(data_from_stream(f), u"obj") +class DaeMeshFileObject(MeshFileObject): + def __init__(self, contents): + super(DaeMeshFileObject, self).__init__(contents, u"dae", {}) #these super calls are not typically used (we don't instance these things) and seem to be broken on other types + + @staticmethod + def from_file(fname, verbose=False): + with open(fname, "r") as f: + dae_contents = f.read() + # --- we need to parse the DAE to build resources--- + dae_tree = Et.parse(fname) + + + img_resources = {} + # --- this is against a Blender collada file --- + img_lib_element = dae_tree.find('{http://www.collada.org/2005/11/COLLADASchema}library_images') + + if img_lib_element: + img_resource_names = [e.text for e in img_lib_element.iter() if e.tag.count('init_from')] + if verbose: + print("Found image resource names:", img_resource_names) + else: + img_resource_names = [] + + img_dir = os.path.dirname(os.path.abspath(fname)) + if verbose: + print("Seeking images in", img_dir) + for img_name in img_resource_names: + img_path = os.path.join(img_dir, img_name) + if not os.path.isfile(img_path): + raise UserWarning("DaeMeshFileObject.from_file() could not find image {} in Collada file library_images. Make sure they all exist in the same directory as the DAE file".format(img_name) ) + with open(img_path, "rb") as imf: + imdata = base64.b64encode(imf.read()) + imstr = imdata.decode('utf-8') + imuri = "data:image/png;base64,{}".format(imstr) + img_resources[img_name] = imuri + + return MeshFileObject(dae_contents, u"dae", img_resources) class DaeMeshGeometry(MeshGeometry): def __init__(self, contents): From 63781088f6106c3766f51bb5c7bc1ec97a5b5c20 Mon Sep 17 00:00:00 2001 From: dan Date: Fri, 18 Mar 2022 19:13:15 -0400 Subject: [PATCH 04/11] Try switching on png/jpg textures. UR3 load example .ipynb --- examples/color_texture_dae_example.ipynb | 149 +++++++++++++---------- src/meshcat/geometry.py | 11 +- 2 files changed, 93 insertions(+), 67 deletions(-) diff --git a/examples/color_texture_dae_example.ipynb b/examples/color_texture_dae_example.ipynb index 3ad0d09..54942ca 100644 --- a/examples/color_texture_dae_example.ipynb +++ b/examples/color_texture_dae_example.ipynb @@ -3,7 +3,7 @@ { "cell_type": "code", "execution_count": 1, - "id": "7af95cc4", + "id": "f985b242", "metadata": {}, "outputs": [], "source": [ @@ -11,13 +11,16 @@ "import os\n", "import time\n", "\n", - "import meshcat" + "import meshcat\n", + "import urllib\n", + "import yaml\n", + "import io" ] }, { "cell_type": "code", "execution_count": 2, - "id": "a41a4c53", + "id": "9ec0ccd4", "metadata": {}, "outputs": [ { @@ -31,7 +34,7 @@ { "data": { "text/plain": [ - " at path: >" + " at path: >" ] }, "execution_count": 2, @@ -46,100 +49,118 @@ ] }, { - "cell_type": "code", - "execution_count": 3, - "id": "0082535d", + "cell_type": "markdown", + "id": "1ed4ce88", "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "'c:\\\\code\\\\dan\\\\meshcat-python\\\\src\\\\meshcat\\\\viewer'" - ] - }, - "execution_count": 3, - "metadata": {}, - "output_type": "execute_result" - } - ], "source": [ - "meshcat.viewer_assets_path()" + "# Visualize UR3e Robot In Color" ] }, { "cell_type": "code", - "execution_count": 4, - "id": "0b84e1a5", + "execution_count": 14, + "id": "a04ce15e", "metadata": {}, "outputs": [], "source": [ - "dae_path = r\"G:\\My Drive\\POLARWORKS_DRIVE\\27_SPRINTS\\220120 SPRINT\\3D_Assets\\Collada_Components\\skiver_img_map\\skiver_img_map.dae\"" + "ur_meshdir_template = 'https://raw.githubusercontent.com/Gepetto/example-robot-data/master/robots/ur_description/meshes/ur3/visual/{0}'" ] }, { "cell_type": "code", - "execution_count": 5, - "id": "a248c7f1", - "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "Found image resource names: ['skiver_textures.png']\n", - "Seeking images in G:\\My Drive\\POLARWORKS_DRIVE\\27_SPRINTS\\220120 SPRINT\\3D_Assets\\Collada_Components\\skiver_img_map\n" - ] - } - ], - "source": [ - "textured_dae = meshcat.geometry.DaeMeshFileObject.from_file(dae_path, verbose=True)" - ] - }, - { - "cell_type": "code", - "execution_count": 6, - "id": "6955e7d6", - "metadata": {}, - "outputs": [], - "source": [ - "vis['skiver'].set_object(textured_dae)" - ] - }, - { - "cell_type": "code", - "execution_count": 7, - "id": "e0829a25", + "execution_count": 15, + "id": "319c2e68", "metadata": {}, "outputs": [], "source": [ - "cart_path = r\"G:\\My Drive\\POLARWORKS_DRIVE\\27_SPRINTS\\220120 SPRINT\\3D_Assets\\Collada_Components\\rcs_cart_v2_with_fence_no_sidewalls.dae\"" + "# -- calculated offline with Pinocchio -- \n", + "link_poses_yaml_str = '''base.dae:\n", + "- [1.0, 2.4492935982947064e-16, 0.0, 0.0]\n", + "- [-2.4492935982947064e-16, 1.0, 0.0, 0.0]\n", + "- [0.0, 0.0, 1.0, 0.0]\n", + "- [0.0, 0.0, 0.0, 1.0]\n", + "shoulder.dae:\n", + "- [1.0, 2.4492935982947064e-16, 0.0, 0.0]\n", + "- [-2.4492935982947064e-16, 1.0, 0.0, 0.0]\n", + "- [0.0, 0.0, 1.0, 0.15185]\n", + "- [0.0, 0.0, 0.0, 1.0]\n", + "upperarm.dae:\n", + "- [-2.5117933221343742e-26, 1.2246467991473532e-16, 1.0, 1.4695761589768237e-17]\n", + "- [-2.0510348974767112e-10, 1.0, -1.2246467991473532e-16, 0.12]\n", + "- [-1.0, -2.0510348974767112e-10, 0.0, 0.1518499999753876]\n", + "- [0.0, 0.0, 0.0, 1.0]\n", + "forearm.dae:\n", + "- [-2.5117933221343742e-26, 1.2246467991473532e-16, 1.0, 0.24355]\n", + "- [-2.0510348974767112e-10, 1.0, -1.2246467991473532e-16, 0.02699999999999997]\n", + "- [-1.0, -2.0510348974767112e-10, 0.0, 0.15184999999446222]\n", + "- [0.0, 0.0, 0.0, 1.0]\n", + "wrist1.dae:\n", + "- [-1.0, 1.2246467991473535e-16, -2.5117960413965218e-26, 0.45675]\n", + "- [1.2246467991473532e-16, 1.0000000000000002, -2.051037117922761e-10, 0.02704999999999995]\n", + "- [0.0, -2.051037117922761e-10, -1.0000000000000002, 0.15184999999445198]\n", + "- [0.0, 0.0, 0.0, 1.0]\n", + "wrist2.dae:\n", + "- [-1.0, 1.2246467991473532e-16, -5.0235866442687483e-26, 0.45675]\n", + "- [1.2246467991473532e-16, 1.0, -4.1020697949534224e-10, 0.13104999999999994]\n", + "- [0.0, -4.1020697949534224e-10, -1.0, 0.1518499999731212]\n", + "- [0.0, 0.0, 0.0, 1.0]\n", + "wrist3.dae:\n", + "- [-1.0, 2.511789568559801e-26, -1.2246467996497122e-16, 0.45675]\n", + "- [5.0235866442687483e-26, 1.0000000000000002, -2.051037117922761e-10, 0.13104999996498878]\n", + "- [1.224646799649712e-16, -2.051037117922761e-10, -1.0000000000000002, 0.0664999999731212]\n", + "- [0.0, 0.0, 0.0, 1.0]\n", + "'''" ] }, { "cell_type": "code", - "execution_count": 8, - "id": "57f2af99", + "execution_count": 16, + "id": "3a630f8f", "metadata": {}, "outputs": [], "source": [ - "colored_cart = meshcat.geometry.DaeMeshFileObject.from_file(cart_path)\n", - "vis['cart'].set_object(colored_cart)" + "link_pose_transforms = {k:np.asarray(v) for k, v in yaml.safe_load(link_poses_yaml_str).items()}" ] }, { "cell_type": "code", - "execution_count": 9, - "id": "d231f216", + "execution_count": 17, + "id": "23406325", "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "https://raw.githubusercontent.com/Gepetto/example-robot-data/master/robots/ur_description/meshes/ur3/visual/base.dae\n", + "https://raw.githubusercontent.com/Gepetto/example-robot-data/master/robots/ur_description/meshes/ur3/visual/shoulder.dae\n", + "https://raw.githubusercontent.com/Gepetto/example-robot-data/master/robots/ur_description/meshes/ur3/visual/upperarm.dae\n", + "https://raw.githubusercontent.com/Gepetto/example-robot-data/master/robots/ur_description/meshes/ur3/visual/forearm.dae\n", + "https://raw.githubusercontent.com/Gepetto/example-robot-data/master/robots/ur_description/meshes/ur3/visual/wrist1.dae\n", + "https://raw.githubusercontent.com/Gepetto/example-robot-data/master/robots/ur_description/meshes/ur3/visual/wrist2.dae\n", + "https://raw.githubusercontent.com/Gepetto/example-robot-data/master/robots/ur_description/meshes/ur3/visual/wrist3.dae\n" + ] + } + ], "source": [ - "vis.delete()" + "vis.delete()\n", + "link_meshes = []\n", + "for link_name, link_transform in link_pose_transforms.items():\n", + " dae_url = ur_meshdir_template.format(link_name)\n", + " print(dae_url)\n", + " response = urllib.request.urlopen(dae_url)\n", + " dae_contents_str = response.read().decode('utf-8')\n", + " link = meshcat.geometry.DaeMeshFileObject(dae_contents_str) #won't work with textured image .from_file() loads\n", + " linkpath = '/ur3/{0}'.format(link_name)\n", + " vis[linkpath].set_object(link)\n", + " vis[linkpath].set_transform(link_transform)\n", + " " ] }, { "cell_type": "code", "execution_count": null, - "id": "b1ae923b", + "id": "f5fbd8cb", "metadata": {}, "outputs": [], "source": [] diff --git a/src/meshcat/geometry.py b/src/meshcat/geometry.py index d9d3244..c0229df 100644 --- a/src/meshcat/geometry.py +++ b/src/meshcat/geometry.py @@ -450,15 +450,17 @@ def from_stream(f): class DaeMeshFileObject(MeshFileObject): def __init__(self, contents): super(DaeMeshFileObject, self).__init__(contents, u"dae", {}) #these super calls are not typically used (we don't instance these things) and seem to be broken on other types - + @staticmethod def from_file(fname, verbose=False): + """ + Currently limited to loading image textures from png files + """ with open(fname, "r") as f: dae_contents = f.read() # --- we need to parse the DAE to build resources--- dae_tree = Et.parse(fname) - img_resources = {} # --- this is against a Blender collada file --- img_lib_element = dae_tree.find('{http://www.collada.org/2005/11/COLLADASchema}library_images') @@ -480,7 +482,10 @@ def from_file(fname, verbose=False): with open(img_path, "rb") as imf: imdata = base64.b64encode(imf.read()) imstr = imdata.decode('utf-8') - imuri = "data:image/png;base64,{}".format(imstr) + if img_name.split('.')[-1] in ['jpeg', 'jpg']: + imuri = "data:image/jpeg;base64,{}".format(imstr) #is it as simple here as switching png/bmp/jpg etc on the file extension? + elif img_name.endswith('.png'): + imuri = "data:image/png;base64,{}".format(imstr) img_resources[img_name] = imuri return MeshFileObject(dae_contents, u"dae", img_resources) From c5879131353270d35ae8e54accf38265b5c4788c Mon Sep 17 00:00:00 2001 From: dan Date: Fri, 18 Mar 2022 19:44:54 -0400 Subject: [PATCH 05/11] Added example content and head load example --- examples/HeadTextureMultisense.png | Bin 0 -> 72107 bytes examples/color_texture_dae_example.ipynb | 46 ++++-- examples/head_multisense.blend | Bin 0 -> 880252 bytes examples/head_multisense.dae | 188 +++++++++++++++++++++++ 4 files changed, 224 insertions(+), 10 deletions(-) create mode 100644 examples/HeadTextureMultisense.png create mode 100644 examples/head_multisense.blend 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"1ed4ce88", + "id": "90d5a064", "metadata": {}, "source": [ "# Visualize UR3e Robot In Color" @@ -59,7 +59,7 @@ { "cell_type": "code", "execution_count": 14, - "id": "a04ce15e", + "id": "f129fb9a", "metadata": {}, "outputs": [], "source": [ @@ -69,7 +69,7 @@ { "cell_type": "code", "execution_count": 15, - "id": "319c2e68", + "id": "cc11516a", "metadata": {}, "outputs": [], "source": [ @@ -115,7 +115,7 @@ { "cell_type": "code", "execution_count": 16, - "id": "3a630f8f", + "id": "1136c95e", "metadata": {}, "outputs": [], "source": [ @@ -124,8 +124,8 @@ }, { "cell_type": "code", - "execution_count": 17, - "id": "23406325", + "execution_count": 49, + "id": "20a9368b", "metadata": {}, "outputs": [ { @@ -151,16 +151,42 @@ " response = urllib.request.urlopen(dae_url)\n", " dae_contents_str = response.read().decode('utf-8')\n", " link = meshcat.geometry.DaeMeshFileObject(dae_contents_str) #won't work with textured image .from_file() loads\n", - " linkpath = '/ur3/{0}'.format(link_name)\n", + " linkpath = '/meshcat/ur3/{0}'.format(link_name)\n", " vis[linkpath].set_object(link)\n", " vis[linkpath].set_transform(link_transform)\n", " " ] }, + { + "cell_type": "markdown", + "id": "a57501df", + "metadata": {}, + "source": [ + "# Collada Head" + ] + }, + { + "cell_type": "code", + "execution_count": 67, + "id": "9d0b3852", + "metadata": {}, + "outputs": [], + "source": [ + "head_file = str(os.path.join(meshcat.viewer_assets_path(), r'data/head_multisense.dae'))\n", + "head = meshcat.geometry.DaeMeshFileObject.from_file(head_file)\n", + "vis['head'].set_object(head)\n", + "Th = np.array([[ 0. , 0. , -1. , 0.45675],\n", + " [ 1. , 0. , 0. , 0.28105],\n", + " [ 0. , -1. , 0. , 0.0665 ],\n", + " [ 0. , 0. , 0. , 1. ]])\n", + "\n", + "vis['head'].set_transform(Th)" + ] + }, { "cell_type": "code", "execution_count": null, - "id": "f5fbd8cb", + "id": "a707ad31", "metadata": {}, "outputs": [], "source": [] diff --git a/examples/head_multisense.blend b/examples/head_multisense.blend new 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\ No newline at end of file From 5ff683c9bb081f44bf50742fa1c606cd6469e5ab Mon Sep 17 00:00:00 2001 From: dan Date: Fri, 18 Mar 2022 19:48:59 -0400 Subject: [PATCH 06/11] Rename notebook, add a little motivation --- ...nb => color_texture_collada_example.ipynb} | 30 ++++++++++++------- 1 file changed, 20 insertions(+), 10 deletions(-) rename examples/{color_texture_dae_example.ipynb => color_texture_collada_example.ipynb} (91%) diff --git a/examples/color_texture_dae_example.ipynb b/examples/color_texture_collada_example.ipynb similarity index 91% rename from examples/color_texture_dae_example.ipynb rename to examples/color_texture_collada_example.ipynb index 659d8e7..a4e06f6 100644 --- a/examples/color_texture_dae_example.ipynb +++ b/examples/color_texture_collada_example.ipynb @@ -3,7 +3,7 @@ { "cell_type": "code", "execution_count": 1, - "id": "e96d542b", + "id": "938dafc7", "metadata": {}, "outputs": [], "source": [ @@ -20,7 +20,7 @@ { "cell_type": "code", "execution_count": 2, - "id": "cad1fa40", + "id": "1d62c55e", "metadata": {}, "outputs": [ { @@ -50,7 +50,17 @@ }, { "cell_type": "markdown", - "id": "90d5a064", + "id": "5e3add6b", + "metadata": {}, + "source": [ + "# WIP `_meshfile_object` Loaders\n", + "\n", + "This notebook is an example test of functionality added to address `meshcat-python` [Issue #92](https://github.com/rdeits/meshcat-python/issues/92) and likely makes some progress on [Issue #27](https://github.com/rdeits/meshcat-python/issues/27)" + ] + }, + { + "cell_type": "markdown", + "id": "63ef1047", "metadata": {}, "source": [ "# Visualize UR3e Robot In Color" @@ -59,7 +69,7 @@ { "cell_type": "code", "execution_count": 14, - "id": "f129fb9a", + "id": "dbde04f3", "metadata": {}, "outputs": [], "source": [ @@ -69,7 +79,7 @@ { "cell_type": "code", "execution_count": 15, - "id": "cc11516a", + "id": "8aac9985", "metadata": {}, "outputs": [], "source": [ @@ -115,7 +125,7 @@ { "cell_type": "code", "execution_count": 16, - "id": "1136c95e", + "id": "20e5be4d", "metadata": {}, "outputs": [], "source": [ @@ -125,7 +135,7 @@ { "cell_type": "code", "execution_count": 49, - "id": "20a9368b", + "id": "0c90cc86", "metadata": {}, "outputs": [ { @@ -159,7 +169,7 @@ }, { "cell_type": "markdown", - "id": "a57501df", + "id": "6ac5f370", "metadata": {}, "source": [ "# Collada Head" @@ -168,7 +178,7 @@ { "cell_type": "code", "execution_count": 67, - "id": "9d0b3852", + "id": "a849e7c9", "metadata": {}, "outputs": [], "source": [ @@ -186,7 +196,7 @@ { "cell_type": "code", "execution_count": null, - "id": "a707ad31", + "id": "0cfb60bd", "metadata": {}, "outputs": [], "source": [] From 75efc28619a2f63aff8af502ab3b50d5baccf365 Mon Sep 17 00:00:00 2001 From: dan Date: Fri, 18 Mar 2022 20:51:08 -0400 Subject: [PATCH 07/11] Added jpeg texture, get dae from examples dir --- examples/HeadTextureMultisense.jpg | Bin 0 -> 25164 bytes examples/color_texture_collada_example.ipynb | 65 +++++- examples/head_multisense_jpg.blend | Bin 0 -> 864340 bytes examples/head_multisense_jpg.dae | 188 ++++++++++++++++++ ...isense.blend => head_multisense_png.blend} | Bin 5 files changed, 244 insertions(+), 9 deletions(-) create mode 100644 examples/HeadTextureMultisense.jpg create mode 100644 examples/head_multisense_jpg.blend create mode 100644 examples/head_multisense_jpg.dae rename examples/{head_multisense.blend => head_multisense_png.blend} (100%) diff --git a/examples/HeadTextureMultisense.jpg b/examples/HeadTextureMultisense.jpg new file mode 100644 index 0000000000000000000000000000000000000000..e6139939a0b16e50404ddaf57d7743c8697c232b GIT binary patch literal 25164 zcmbTd2V4_fw>}z*pj2tniLW&2(h-3uN)rL;J*f09(rYLJ(gg$r1eD$*HS|dDz4zW* zLJcH@oA=!R_dn-+=bm!UChNCnX76EU&0e$iv!1o*cII{kaR0TUiXs3H4-epl`vcsr z0*n;AY^?wQH8lV)006iPAjA^^;N!MvaU!RAAApCeaoqs`O)3E4-`fBHDUBxezi#7> z0Ysh%OG!TwkrsaXP~?fUu!OXz1mJca@DhNJhxhmI{}h5d1b-JILPCN-lzf6Lu_ zr1$RLCAmvXOhQgVLP~}!#P=vD$;l}G-v0Za{C)c0XW@QicZu)*-Q)jXx%~s6x{Hs~ 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"id": "8aac9985", "metadata": {}, "outputs": [], @@ -124,7 +124,7 @@ }, { "cell_type": "code", - "execution_count": 16, + "execution_count": 5, "id": "20e5be4d", "metadata": {}, "outputs": [], @@ -134,7 +134,7 @@ }, { "cell_type": "code", - "execution_count": 49, + "execution_count": 6, "id": "0c90cc86", "metadata": {}, "outputs": [ @@ -172,17 +172,17 @@ "id": "6ac5f370", "metadata": {}, "source": [ - "# Collada Head" + "# Collada Head - Original Orange png Texture" ] }, { "cell_type": "code", - "execution_count": 67, + "execution_count": 8, "id": "a849e7c9", "metadata": {}, "outputs": [], "source": [ - "head_file = str(os.path.join(meshcat.viewer_assets_path(), r'data/head_multisense.dae'))\n", + "head_file = 'head_multisense.dae'\n", "head = meshcat.geometry.DaeMeshFileObject.from_file(head_file)\n", "vis['head'].set_object(head)\n", "Th = np.array([[ 0. , 0. , -1. , 0.45675],\n", @@ -193,10 +193,57 @@ "vis['head'].set_transform(Th)" ] }, + { + "cell_type": "markdown", + "id": "d92ad0c7", + "metadata": {}, + "source": [ + "# Collada Head - New Green jpeg Texture" + ] + }, + { + "cell_type": "code", + "execution_count": 18, + "id": "55791cf4", + "metadata": {}, + "outputs": [], + "source": [ + "jpg_head_file = 'head_multisense_jpg.dae'\n", + "jpg_head = meshcat.geometry.DaeMeshFileObject.from_file(jpg_head_file)\n", + "vis['jpg_head'].set_object(jpg_head)\n", + "Tjh = Th.copy()\n", + "Tjh[2, 3] += 0.3\n", + "vis['jpg_head'].set_transform(Tjh)" + ] + }, + { + "cell_type": "code", + "execution_count": 16, + "id": "3b692ee3", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "array([[ 0. , 0. , -1. , 0.45675],\n", + " [ 1. , 0. , 0. , 0.28105],\n", + " [ 0. , -1. , 0. , 1.0665 ],\n", + " [ 0. , 0. , 0. , 1. ]])" + ] + }, + "execution_count": 16, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "Tjh" + ] + }, { "cell_type": "code", "execution_count": null, - "id": "0cfb60bd", + "id": "bac060b2", "metadata": {}, 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+ + + + + + + + 1 0 0 0 0 -1.62921e-7 -1 0 0 1 -1.62921e-7 0 0 0 0 1 + + + + + + + + + + + + 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/examples/head_multisense.blend b/examples/head_multisense_png.blend similarity index 100% rename from examples/head_multisense.blend rename to examples/head_multisense_png.blend From c6d4e389abdf7482dd89312d983451dc7560539d Mon Sep 17 00:00:00 2001 From: dan Date: Fri, 18 Mar 2022 20:51:49 -0400 Subject: [PATCH 08/11] Saved .ipynb example --- examples/color_texture_collada_example.ipynb | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/examples/color_texture_collada_example.ipynb b/examples/color_texture_collada_example.ipynb index 83788d9..b0b4798 100644 --- a/examples/color_texture_collada_example.ipynb +++ b/examples/color_texture_collada_example.ipynb @@ -195,7 +195,7 @@ }, { "cell_type": "markdown", - "id": "d92ad0c7", + "id": "d58252e5", "metadata": {}, "source": [ "# Collada Head - New Green jpeg Texture" @@ -204,7 +204,7 @@ { "cell_type": "code", "execution_count": 18, - "id": "55791cf4", + "id": "93e4f42b", "metadata": {}, "outputs": [], "source": [ @@ -219,7 +219,7 @@ { "cell_type": "code", "execution_count": 16, - "id": "3b692ee3", + "id": "0893ef4f", "metadata": {}, "outputs": [ { @@ -243,7 +243,7 @@ { "cell_type": "code", "execution_count": null, - "id": "bac060b2", + "id": "81dcd1e0", "metadata": {}, "outputs": [], "source": [] From 415a94c0a8ff3e9ef4c4aace9739cab5a823bb26 Mon Sep 17 00:00:00 2001 From: dan Date: Fri, 18 Mar 2022 21:05:39 -0400 Subject: [PATCH 09/11] Make the collada png accents blue instead of orange --- examples/HeadTextureMultisense.png | Bin 72107 -> 77217 bytes examples/color_texture_collada_example.ipynb 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zI7;(-p8O=#{E#7s{unddvWU)IvLV*J9Bk!B>u9SNl1E!E{z)2NI2yBTlTvn1_)Z_b z=*g)2_p&czF__Khxg9od7%LPvb1t|wi2j3iDSdeaLqKa}Oiput`nH1mdVdLpf7`6> Kx%r#+M*IUv4XeWd diff --git a/examples/color_texture_collada_example.ipynb b/examples/color_texture_collada_example.ipynb index b0b4798..c2ffd9a 100644 --- a/examples/color_texture_collada_example.ipynb +++ b/examples/color_texture_collada_example.ipynb @@ -172,12 +172,12 @@ "id": "6ac5f370", "metadata": {}, "source": [ - "# Collada Head - Original Orange png Texture" + "# Collada Head - New Blue png Texture" ] }, { "cell_type": "code", - "execution_count": 8, + "execution_count": 19, "id": "a849e7c9", "metadata": {}, "outputs": [], @@ -195,7 +195,7 @@ }, { "cell_type": "markdown", - "id": "d58252e5", + "id": "7da1824b", "metadata": {}, "source": [ "# Collada Head - New Green jpeg Texture" @@ -204,7 +204,7 @@ { "cell_type": "code", "execution_count": 18, - "id": "93e4f42b", + "id": "6548a4d4", "metadata": {}, "outputs": [], "source": [ @@ -219,7 +219,7 @@ { "cell_type": "code", "execution_count": 16, - "id": "0893ef4f", + "id": "668561f2", "metadata": {}, "outputs": [ { @@ -243,7 +243,7 @@ { "cell_type": "code", "execution_count": null, - "id": "81dcd1e0", + "id": "65e100b0", "metadata": {}, "outputs": [], "source": [] From d98c581a57e6c03556d8b4dfcbb16756269eb202 Mon Sep 17 00:00:00 2001 From: dan Date: Mon, 21 Mar 2022 09:17:32 -0400 Subject: [PATCH 10/11] Added .obj with .mtl, updated colors in DAE files/examples for easy viz --- examples/HeadTextureMultisense.png | Bin 77217 -> 72107 bytes examples/HeadTextureMultisenseBlue.png | Bin 0 -> 77217 bytes examples/color_texture_collada_example.ipynb | 72 +- examples/head_multisense_png.blend | Bin 880252 -> 864340 bytes examples/head_multisense_png.blend1 | Bin 0 -> 880252 bytes ...multisense.dae => head_multisense_png.dae} | 18 +- examples/head_multisense_png.mtl | 13 + examples/head_multisense_png.obj | 2106 +++++++++++++++++ src/meshcat/geometry.py | 4 +- 9 files changed, 2168 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Create a new visualizer\n", "vis = meshcat.Visualizer()\n", - "vis.open()" + "# we'll put it in a jupyter cell further down" ] }, { @@ -167,6 +157,34 @@ " " ] }, + { + "cell_type": "code", + "execution_count": 7, + "id": "9bd0e06c", + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "\n", + "
\n", + " \n", + "
\n", + " " + ], + "text/plain": [ + "" + ] + }, + "execution_count": 7, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "vis.jupyter_cell(height=600)" + ] + }, { "cell_type": "markdown", "id": "6ac5f370", @@ -177,12 +195,12 @@ }, { "cell_type": "code", - "execution_count": 19, + "execution_count": 9, "id": "a849e7c9", "metadata": {}, "outputs": [], "source": [ - "head_file = 'head_multisense.dae'\n", + "head_file = 'head_multisense_png.dae'\n", "head = meshcat.geometry.DaeMeshFileObject.from_file(head_file)\n", "vis['head'].set_object(head)\n", "Th = np.array([[ 0. , 0. , -1. , 0.45675],\n", @@ -195,7 +213,7 @@ }, { "cell_type": "markdown", - "id": "7da1824b", + "id": "1c1809f3", "metadata": {}, "source": [ "# Collada Head - New Green jpeg Texture" @@ -203,8 +221,8 @@ }, { "cell_type": "code", - "execution_count": 18, - "id": "6548a4d4", + "execution_count": 10, + "id": "639c565b", "metadata": {}, "outputs": [], "source": [ @@ -218,24 +236,10 @@ }, { "cell_type": "code", - "execution_count": 16, - "id": "668561f2", + "execution_count": null, + "id": "f8bad500", "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "array([[ 0. , 0. , -1. , 0.45675],\n", - " [ 1. , 0. , 0. , 0.28105],\n", - " [ 0. , -1. , 0. , 1.0665 ],\n", - " [ 0. , 0. , 0. , 1. ]])" - ] - }, - "execution_count": 16, - "metadata": {}, - "output_type": "execute_result" - } - ], + "outputs": [], "source": [ "Tjh" ] @@ -243,7 +247,7 @@ { "cell_type": "code", "execution_count": null, - "id": "65e100b0", + "id": "26504b92", "metadata": {}, "outputs": [], "source": [] diff --git a/examples/head_multisense_png.blend b/examples/head_multisense_png.blend index a1d45f1b6fb80343d0079851e8b52ce1931717ec..647f8fa9a538bd9de95b7fb3f0156beaf2cff67f 100644 GIT binary patch delta 66010 zcmbTf37C|{@jt%r%)GPj2#XMQWn@{obqS!Xf{bzq3OZg0@fuMh7%{6+10HcbBH%e1 z6;{O_;{}@NM57TEXS_j;jyJ?a*ISIodPPx^j7HQhxS?`-@&&+qxK4_3e3Rn^s1 z)z#JgzVp7{zA@pi?~GsG=+Ap_@Wxv^w?5qO9lm$mE zJn84#AAQ1tla49Ozdh0%DJ;A_lJ^=8-M_AGxlfE${Ko z93o^sdf*|(x9jwei4|SjUwRN-7goo;uc8SPccj~NlsBN|u7gLStM02mUKu8V+T6x1 zynPqs&-hRV`YVB{(*>4BOE2l|1m<3N9eAnr0+VWiCH1+;lKN|6p2zY;>pc3$f4C%= zANSR*H@VJUUjMPl=bwCpr7&39N?2#!J6S|{KLkPIr@LMuwShV_SWG=*`a#o&Fk=<` z4&un2!vOpZ9k%9;^5abYPTurH7!0T zM%Q)L3mT{gL+n1SR$YuMf4Leu!!x=RcR+lMpHVHYucb>Jq=-hC(`#c`C9D?keGCUOHQ64*XySP&U<)< zTYjTACh;)^asJ!dUC_@PRsV@Uu#Wz@eo1dI+90@V+n?Nv+dTYN9Rri5UzaGEeQC_2 zJO)6wVV<`~L%P@Zh{35>C`7UN!~JZ3s&Z|!qLX)4K}~Rsk?3te%)4&MlY0Qxso+bV zam#M>#wMm=@R5KUTWP&h0Gwh`Jc#2`&BKWG_7> zvIC0j#Rp>d@o~WXgP1k*OQ{B-Ktz znA2=_8!z*=a|^ff`c5%lHQzO+=F@O<>Z@ix(X|96_FeY{EeF&46X8}{vEe0nvGZmw z6X$K`)rM%Y+iLJo*!AXUI4@wxd4cZ^9^ei3rHR$(7QWy$G%wjl{dA?O@r%lJXWIx- zVt==B04cGNWnm?5=k@Pw>pzwyV-xeANy+8npVd8or|!wnP2Vj#qxXZN&760Nd1rFP z_fnkXV>GU9Yj2XD?7x(17i~>h&N-Cjw3POh6vJT9s=Q5V-OV554T_DY z#LKN7=n_}gb`jZh>+h;L@-!V za|7~{+1UFX(jqxTD?=8l897CQ1p<`_)KJlhkk;tLxSK#cpga!L(Ons=D zT48p$2m&akUfB{hHRFj0Gb$noa*bwNm0wR0Qg2Zv=oXD25te5?h)`Bt7%XWH4Jaav z8y*q?c;fKADl1_RCV0g)y4X@6OKzIy{h_YW5x zSeb;HTT@7gar&=ufO)_e)a*YD)D#JJgYvR4hPbSpSD zPH*h2+XE@1>eyNj0bIZF-m*lN>`?kIDG0vor*}N}b}2UG-lh#c`BCZEb=10Xymwwh z=6cytc5M3*ZJ-xT@LuZE(6wm|+@|E;M`&|qct^xI8!u4SGTw9V&-8Bf^M|gdiq1W~ zNuFOy+(Oe}!(QICO*n#}4h(i5_&jmoHKTA{+VlJv#9FmK1@q$9VnRSMp%mdBnOWX` z4ITd$l=LPZ%<5TQbCXr|qA{`xa$AtwxQ(;C^IA}(zO4yVbPW=>^Z@THUl>sb{e2
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HeadTextureMultisense_png + HeadTextureMultisenseBlue_png - + - HeadTextureMultisense_png-surface + HeadTextureMultisenseBlue_png-surface @@ -94,7 +94,7 @@ 0 0 0 1 - + 1.45 @@ -105,8 +105,8 @@ - - HeadTextureMultisense.png + + HeadTextureMultisenseBlue.png diff --git a/examples/head_multisense_png.mtl b/examples/head_multisense_png.mtl new file mode 100644 index 0000000..cd59e4e --- /dev/null +++ b/examples/head_multisense_png.mtl @@ -0,0 +1,13 @@ +# Blender MTL File: 'head_multisense_png.blend' +# Material Count: 1 + +newmtl Default_OBJ +Ns 225.000000 +Ka 1.000000 1.000000 1.000000 +Kd 0.800000 0.800000 0.800000 +Ks 0.500000 0.500000 0.500000 +Ke 0.000000 0.000000 0.000000 +Ni 1.450000 +d 1.000000 +illum 2 +map_Kd HeadTextureMultisense.png diff --git a/examples/head_multisense_png.obj b/examples/head_multisense_png.obj new file mode 100644 index 0000000..105aa64 --- /dev/null +++ b/examples/head_multisense_png.obj @@ -0,0 +1,2106 @@ +# Blender v2.92.0 OBJ File: 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@staticmethod def from_file(fname, verbose=False): """ - Currently limited to loading image textures from png files + Currently limited to loading image textures from jpeg or png files, uses file extension """ with open(fname, "r") as f: dae_contents = f.read() @@ -462,7 +462,7 @@ def from_file(fname, verbose=False): dae_tree = Et.parse(fname) img_resources = {} - # --- this is against a Blender collada file --- + # --- this is against a Blender collada file, maybe need a more elegant way of parsing and handling XML namespaces --- img_lib_element = dae_tree.find('{http://www.collada.org/2005/11/COLLADASchema}library_images') if img_lib_element: From 73e9a78340b2d319b0b9c056f4fbfda89ff24310 Mon Sep 17 00:00:00 2001 From: dan Date: Mon, 21 Mar 2022 09:28:14 -0400 Subject: [PATCH 11/11] Different colors for different imports, updated example .ipynb --- examples/HeadTextureMultisense.png | Bin 72107 -> 0 bytes examples/HeadTextureMultisenseRed.png | Bin 0 -> 77133 bytes examples/color_texture_collada_example.ipynb | 51 ++++++++++++++----- examples/head_multisense_png.blend | Bin 864340 -> 866060 bytes examples/head_multisense_png.blend1 | Bin 880252 -> 864340 bytes examples/head_multisense_png.mtl | 2 +- 6 files changed, 39 insertions(+), 14 deletions(-) delete mode 100644 examples/HeadTextureMultisense.png create mode 100644 examples/HeadTextureMultisenseRed.png diff --git a/examples/HeadTextureMultisense.png b/examples/HeadTextureMultisense.png deleted file mode 100644 index 9b8d6497a09088cf147158af1dbbe452661621f6..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 72107 zcmXtf1yoc2`~O`41E!30Aj0TU8U!Uqcc*~Ttso+Z)HXn+1f)SqK~lO^7%DADiF61k z4bl?Z{`-9Y=XbW9yL0ck@B7^6c|ZMnVvG&7F43^j003}FM_b(#0KnwGU;su*J{$)9 zI3ph@o%FQS0n&e;g0_+r@)_!f+IRc`fR^#U9|*|KL6T2WJ=QVMpjrYmG9h@sOlvX$ z01D7iS1}Ko-fDZAS~O+B`S0UN7=2cn#rT|8qs@lTn@evfxVUJqif48eNN~tbeeJL= z04Zd$=Cg)~PcE@%N*u>4It+mZ1|%ly248)C{z|JGC6_)mc$o(Qdw{~Fv&>b_e=L7A 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