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a/__pycache__/test_load_json.cpython-312.pyc b/__pycache__/test_load_json.cpython-312.pyc new file mode 100644 index 0000000..fa44a26 Binary files /dev/null and b/__pycache__/test_load_json.cpython-312.pyc differ diff --git a/clound_print.py b/clound_print.py index f2bb70d..f01fbf5 100644 --- a/clound_print.py +++ b/clound_print.py @@ -6,9 +6,11 @@ from typing import cast import requests from download_print import download_datas_by_pre_layout from download_print import BatchModelInfo -from download_print import is_test from print_factory_type_setting_obj_run import print_type_setting_obj +from config import print_factory_type_dir +from config import is_test +from general import is_run_local_data # 如果没有 DISPLAY，自动启动 Xvfb if "DISPLAY" not in os.environ: @@ -161,8 +163,8 @@ def main(): def test_main(): # while True: - # data= {'machine_print_counts': 150, 'pre_batch_id': 9910032, 'print_machine_id': 14, 'print_orders': [{'counts': 1, 'layout_z': 35.62070959151145, 'model_weight': 41.862, 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'print_id': 127027}, {'counts': 1, 'layout_z': 21.12561534577449, 'model_weight': 7.557, 'order_id': 919287, 'pid': 378803, 'print_id': 127031}, {'counts': 1, 'layout_z': 25.091119425246845, 'model_weight': 14.908, 'order_id': 919292, 'pid': 378808, 'print_id': 127037}, {'counts': 1, 'layout_z': 26.77140074489941, 'model_weight': 21.134, 'order_id': 919293, 'pid': 378809, 'print_id': 127038}, {'counts': 1, 'layout_z': 27.517811122519632, 'model_weight': 20.529, 'order_id': 919294, 'pid': 378810, 'print_id': 127040}, {'counts': 1, 'layout_z': 30.62898230748005, 'model_weight': 22.053, 'order_id': 918507, 'pid': 377607, 'print_id': 127041}, {'counts': 1, 'layout_z': 27.056545744705435, 'model_weight': 20.734, 'order_id': 919295, 'pid': 378811, 'print_id': 127042}, {'counts': 1, 'layout_z': 23.059078062109105, 'model_weight': 13.642, 'order_id': 918508, 'pid': 377610, 'print_id': 127044}, {'counts': 1, 'layout_z': 24.373135283888665, 'model_weight': 18.763, 'order_id': 919297, 'pid': 378814, 'print_id': 127045}, {'counts': 1, 'layout_z': 29.93312254092476, 'model_weight': 28.184, 'order_id': 918556, 'pid': 377685, 'print_id': 127046}, {'counts': 1, 'layout_z': 35.433726822945225, 'model_weight': 46.28, 'order_id': 919298, 'pid': 378815, 'print_id': 127047}, {'counts': 1, 'layout_z': 32.148966009725754, 'model_weight': 43.827, 'order_id': 919299, 'pid': 378816, 'print_id': 127048}, {'counts': 1, 'layout_z': 24.873977270254855, 'model_weight': 17.694, 'order_id': 919300, 'pid': 378817, 'print_id': 127049}, {'counts': 1, 'layout_z': 28.89906702733768, 'model_weight': 19.09, 'order_id': 918568, 'pid': 377739, 'print_id': 127050}, {'counts': 1, 'layout_z': 29.072691539058013, 'model_weight': 24.701, 'order_id': 919301, 'pid': 378818, 'print_id': 127051}, {'counts': 1, 'layout_z': 22.799459457397457, 'model_weight': 17.986, 'order_id': 919302, 'pid': 378819, 'print_id': 127052}, {'counts': 1, 'layout_z': 28.30774288615256, 'model_weight': 23.62, 'order_id': 919303, 'pid': 378820, 'print_id': 127054}, {'counts': 1, 'layout_z': 27.685387987537027, 'model_weight': 18.804, 'order_id': 919304, 'pid': 378821, 'print_id': 127055}, {'counts': 1, 'layout_z': 21.501308067252822, 'model_weight': 7.512, 'order_id': 919305, 'pid': 378822, 'print_id': 127056}, {'counts': 1, 'layout_z': 31.91424955213119, 'model_weight': 37.428, 'order_id': 919307, 'pid': 378823, 'print_id': 127057}, {'counts': 1, 'layout_z': 32.039728096944266, 'model_weight': 35.473, 'order_id': 919308, 'pid': 378824, 'print_id': 127058}, {'counts': 1, 'layout_z': 33.27248765777313, 'model_weight': 37.264, 'order_id': 919309, 'pid': 378825, 'print_id': 127059}, {'counts': 1, 'layout_z': 31.01150813726163, 'model_weight': 27.421, 'order_id': 919310, 'pid': 378826, 'print_id': 127060}, {'counts': 1, 'layout_z': 25.02092682146464, 'model_weight': 16.694, 'order_id': 919311, 'pid': 378827, 'print_id': 127061}, {'counts': 1, 'layout_z': 27.649195956325578, 'model_weight': 20.131, 'order_id': 919314, 'pid': 378831, 'print_id': 127062}, {'counts': 1, 'layout_z': 29.323484806820524, 'model_weight': 23.913, 'order_id': 919313, 'pid': 378830, 'print_id': 127063}, {'counts': 1, 'layout_z': 29.93491564175814, 'model_weight': 27.02, 'order_id': 919312, 'pid': 378829, 'print_id': 127064}, {'counts': 1, 'layout_z': 29.220408560439278, 'model_weight': 25.891, 'order_id': 919316, 'pid': 378834, 'print_id': 127066}, {'counts': 1, 'layout_z': 27.086421547538176, 'model_weight': 21.186, 'order_id': 919317, 'pid': 378835, 'print_id': 127067}, {'counts': 1, 'layout_z': 29.687568424918922, 'model_weight': 22.681, 'order_id': 919318, 'pid': 378836, 'print_id': 127068}, {'counts': 1, 'layout_z': 30.30524230403575, 'model_weight': 26.048, 'order_id': 919319, 'pid': 378837, 'print_id': 127069}, {'counts': 1, 'layout_z': 24.082729373309707, 'model_weight': 18.03, 'order_id': 919322, 'pid': 378840, 'print_id': 127072}, {'counts': 1, 'layout_z': 27.8159610614131, 'model_weight': 21.29, 'order_id': 919321, 'pid': 378839, 'print_id': 127073}, {'counts': 1, 'layout_z': 28.93995122935326, 'model_weight': 21.318, 'order_id': 919326, 'pid': 378844, 'print_id': 127074}, {'counts': 1, 'layout_z': 27.58645357098898, 'model_weight': 23.726, 'order_id': 919324, 'pid': 378842, 'print_id': 127076}, {'counts': 1, 'layout_z': 26.337441702233544, 'model_weight': 23.781, 'order_id': 919329, 'pid': 378847, 'print_id': 127077}, {'counts': 1, 'layout_z': 25.032097288221692, 'model_weight': 17.614, 'order_id': 919328, 'pid': 378846, 'print_id': 127078}, {'counts': 1, 'layout_z': 27.0008910375328, 'model_weight': 20.06, 'order_id': 919327, 'pid': 378845, 'print_id': 127079}, {'counts': 1, 'layout_z': 28.573475817385898, 'model_weight': 22.823, 'order_id': 919334, 'pid': 378852, 'print_id': 127081}, {'counts': 1, 'layout_z': 23.589348437207477, 'model_weight': 19.486, 'order_id': 919335, 'pid': 378853, 'print_id': 127082}, {'counts': 1, 'layout_z': 28.29603645275283, 'model_weight': 20.464, 'order_id': 919330, 'pid': 378848, 'print_id': 127083}, {'counts': 1, 'layout_z': 36.094532611977854, 'model_weight': 19.122, 'order_id': 919333, 'pid': 378851, 'print_id': 127084}, {'counts': 1, 'layout_z': 26.209464742348054, 'model_weight': 20.434, 'order_id': 919331, 'pid': 378849, 'print_id': 127085}]} + data= {"machine_print_counts":50, 'machine_type': 'small_machine',"pre_batch_id":991112,"print_machine_id":22,"print_orders":[{"counts":1,"layout_z":3.543965775898459,"model_weight":12.833,"order_id":857420,"pid":268473,"print_id":85240},{"counts":1,"layout_z":7.798861189952786,"model_weight":13.784,"order_id":875986,"pid":305425,"print_id":88136}]} process_clound_print(data) @@ -218,9 +220,7 @@ def process_clound_print(data): machine_print_counts = parsed["machine_print_counts"] - machine_type = "big_machine" - if not is_test: - machine_type = parsed["machine_type"] + machine_type = parsed["machine_type"] if machine_type == "small_machine" : selected_machine = "小机型" @@ -313,7 +313,6 @@ def process_clound_print(data): print("-" * 40) - print_factory_type_dir="/root/print_factory_type" workdir = f"{print_factory_type_dir}/data/{pre_batch_id}" oss_config = f"{print_factory_type_dir}/print_factory_type_setting_big/download_print/run.yaml" @@ -331,14 +330,15 @@ def process_clound_print(data): src_dir = pre_batch_id selected_mode="紧凑" # 标准 紧凑 output_format="JSON" # 模型 JSON - cache_type_setting_dir=f"{print_factory_type_dir}/data/{src_dir}/arrange" base_original_obj_dir = f"{print_factory_type_dir}/data/{src_dir}" - print_type_setting_obj(base_original_obj_dir=base_original_obj_dir,cache_type_setting_dir=cache_type_setting_dir, - batch_id=pre_batch_id,show_chart=False,selected_mode=selected_mode,output_format=output_format,selected_machine=selected_machine) + print_type_setting_obj(base_original_obj_dir=base_original_obj_dir,batch_id=pre_batch_id, + selected_mode=selected_mode,output_format=output_format,selected_machine=selected_machine) #排版结束 if __name__ == '__main__': - if is_test: + print(f"is_run_local_data={is_run_local_data()}") + if is_run_local_data(): + # if is_test: test_main() else: print(f"is_test={is_test}, run main") diff --git a/compute_print_net.py b/compute_print_net.py new file mode 100644 index 0000000..90bbce6 --- /dev/null +++ b/compute_print_net.py @@ -0,0 +1,748 @@ +import open3d as o3d +import numpy as np +import copy +import time +import argparse + +from general import * + +# -------------------------- 开始：获取z值最低 -------------------------- + +""" +对外部提供的获取最低z的接口 +get_lowest_position_of_z_out + +参数: + obj_path, 模型数据路径 + +返回: + total_matrix: 旋转矩阵 + z_max: Z最高点 +""" + +def get_lowest_position_of_z_out(mesh_obj): + + total_matrix = np.eye(4) + + voxel_size = 3 + + # print(f"obj_path={obj_path}, get_lowest_position_of_center voxel_size={voxel_size}") + start_time1 = time.time() + + vertices = np.asarray(mesh_obj.vertices) + + # 确保网格有顶点 + if len(vertices) == 0: + # raise ValueError(f"Mesh has no vertices: {obj_path}") + print(f"Warning: Mesh has no vertices: {mesh_obj}") + return None + + pcd = o3d.geometry.PointCloud() + pcd.points = o3d.utility.Vector3dVector(vertices) + + # print("voxel_size",voxel_size,obj_path, len(pcd.points), len(mesh_obj.vertices)) + + # 对点云进行下采样（体素网格法） + #""" + pcd_downsampled = down_sample(pcd, voxel_size) + pcd_downsampled.paint_uniform_color([0, 0, 1]) + + if len(np.asarray(pcd_downsampled.points)) <= 0: + bbox = pcd.get_axis_aligned_bounding_box() + volume = bbox.volume() + + # print(f"len(pcd.points)={len(pcd.points)}, volume={volume}") + + # 处理体积为零的情况 + if volume <= 0: + # 计算点云的实际范围 + points = np.asarray(pcd.points) + if len(points) > 0: + min_bound = np.min(points, axis=0) + max_bound = np.max(points, axis=0) + extent = max_bound - min_bound + + # 确保最小维度至少为0.01 + min_dimension = max(0.01, np.min(extent)) + volume = min_dimension ** 3 + else: + volume = 1.0 # 最后的安全回退 + + print(f"Warning: Zero volume detected, using approximated volume {volume:.6f} for {obj_path}") + + # 安全计算密度 - 防止除零错误 + if len(pcd.points) > 0 and volume > 0: + original_density = len(pcd.points) / volume + voxel_size = max(0.01, min(10.0, 0.5 / (max(1e-6, original_density) ** 0.33))) + else: + # 当点数为0或体积为0时使用默认体素大小 + voxel_size = 1.0 # 默认值 + + print(f"Recalculated voxel_size: {voxel_size} for {obj_path}") + + pcd_downsampled = down_sample(pcd, voxel_size) + pcd_downsampled.paint_uniform_color([0, 0, 1]) + + original_num = len(pcd.points) + target_samples = 1000 + num_samples = min(target_samples, original_num) + + # print("get_lowest_position_of_center1 time", time.time()-start_time1) + start_time2 = time.time() + # 确保下采样后有点云 + if len(np.asarray(pcd_downsampled.points)) == 0: + # 使用原始点云作为后备 + pcd_downsampled = pcd + print(f"Warning: Using original point cloud for {obj_path} as downsampling produced no points") + + points = np.asarray(pcd_downsampled.points) + + # 初始化最小重心Y的值 + max_z_of_mass_y = float('inf') + best_angle_x, best_angle_y, best_angle_z = 0, 0, 0 + best_angle_x, best_angle_y, best_angle_z, max_z_of_mass_y = parallel_rotation(points, angle_step=3) + + # 使用最佳角度进行旋转并平移obj + pcd_transformed = copy.deepcopy(mesh_obj) + + # 最佳角度旋转 + R_x = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([1, 0, 0]) * np.radians(best_angle_x)) + pcd_transformed.rotate(R_x) + R_y = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 1, 0]) * np.radians(best_angle_y)) + pcd_transformed.rotate(R_y) + R_z = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 0, 1]) * np.radians(best_angle_z)) + pcd_transformed.rotate(R_z) + + T_x = np.eye(4) + T_x[:3, :3] = R_x + center_point = compute_mesh_center(mesh_obj.vertices) + T_center_to_origin = np.eye(4) + T_center_to_origin[:3, 3] = -center_point + T_origin_to_center = np.eye(4) + T_origin_to_center[:3, 3] = center_point + T_rot_center = T_origin_to_center @ T_x @ T_center_to_origin + total_matrix = T_rot_center @ total_matrix + + T_y = np.eye(4) + T_y[:3, :3] = R_y + center_point = compute_mesh_center(mesh_obj.vertices) + T_center_to_origin = np.eye(4) + T_center_to_origin[:3, 3] = -center_point + T_origin_to_center = np.eye(4) + T_origin_to_center[:3, 3] = center_point + T_rot_center = T_origin_to_center @ T_y @ T_center_to_origin + total_matrix = T_rot_center @ total_matrix + + T_z = np.eye(4) + T_z[:3, :3] = R_z + center_point = compute_mesh_center(mesh_obj.vertices) + T_center_to_origin = np.eye(4) + T_center_to_origin[:3, 3] = -center_point + T_origin_to_center = np.eye(4) + T_origin_to_center[:3, 3] = center_point + T_rot_center = T_origin_to_center @ T_z @ T_center_to_origin + total_matrix = T_rot_center @ total_matrix + + #试着旋转180，让脸朝上 + + vertices = np.asarray(pcd_transformed.vertices) + # 计算平移向量，将最小Y值平移到0 + min_z = np.min(vertices[:, 2]) + translation_vector = np.array([0,0,-min_z,]) + pcd_transformed.translate(translation_vector) + + T_trans1 = np.eye(4) + T_trans1[:3, 3] = translation_vector + total_matrix = T_trans1 @ total_matrix + + # 计算 z 坐标均值 + vertices = np.asarray(pcd_transformed.vertices) + z_mean1 = np.mean(vertices[:, 2]) + z_max1 = np.max(vertices[:, 2]) + start_time_v1 = time.time() + volume_centroid = get_volume_centroid(pcd_transformed) + z_volume_center1 = volume_centroid[2] + delta = time.time() - start_time_v1 + # print(f"get_volume_centroid time={delta}") + + angle_rad = np.pi + #print("旋转前质心:", pcd_transformed.get_center()) + #print("旋转前点示例:", np.asarray(pcd_transformed.vertices)[:3]) + R_y = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 1, 0]) * angle_rad) + pcd_transformed.translate(-center_point) + pcd_transformed.rotate(R_y, center=(0, 0, 0)) + pcd_transformed.translate(center_point) + + aabb = pcd_transformed.get_axis_aligned_bounding_box() + # center_point = aabb.get_center() + center_point = compute_mesh_center(mesh_obj.vertices) + # 构建绕中心点旋转的变换矩阵[3](@ref) + T_center_to_origin = np.eye(4) + T_center_to_origin[:3, 3] = -center_point + R_y180 = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 1, 0]) * angle_rad) + T_rotate = np.eye(4) + T_rotate[:3, :3] = R_y180 + T_origin_to_center = np.eye(4) + T_origin_to_center[:3, 3] = center_point + T_rot_center = T_origin_to_center @ T_rotate @ T_center_to_origin + total_matrix = T_rot_center @ total_matrix + + #print("旋转后质心:", pcd_transformed.get_center()) + #print("旋转后点示例:", np.asarray(pcd_transformed.vertices)[:3]) + + # + vertices = np.asarray(pcd_transformed.vertices) + # 计算平移向量，将最小Y值平移到0 + min_z = np.min(vertices[:, 2]) + max_z = np.max(vertices[:, 2]) + # print("min_z1", min_z, obj_path) + translation_vector = np.array([0,0,-min_z,]) + # translation_vector = np.array([0,0,-min_z + (min_z-max_z),]) + # print("translation_vector1",translation_vector) + pcd_transformed.translate(translation_vector) + + T_trans2 = np.eye(4) + T_trans2[:3, 3] = translation_vector + translation = total_matrix[:3, 3] + # print("translation_vector2",translation_vector) + # print(1,translation) + + total_matrix = T_trans2 @ total_matrix + translation = total_matrix[:3, 3] + # print(2,translation) + + # 计算 z 坐标均值 + vertices = np.asarray(pcd_transformed.vertices) + z_mean2 = np.mean(vertices[:, 2]) + z_max2 = np.max(vertices[:, 2]) + volume_centroid = get_volume_centroid(pcd_transformed) + z_volume_center2 = volume_centroid[2] + + # print(f"get_lowest_position_of_center z_max1={z_max1}, z_max2={z_max2}, len={len(pcd_transformed.vertices)}, obj_path={obj_path}") + + # print(f"z_mean1={z_mean1}, z_mean2={z_mean2}") + # if (z_mean2 > z_mean1): + print(f"z_volume_center1={z_volume_center1}, z_volume_center2={z_volume_center2}") + if (z_volume_center2 > z_volume_center1): + R_y = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 1, 0]) * -angle_rad) + centroid = pcd_transformed.get_center() + + aabb = pcd_transformed.get_axis_aligned_bounding_box() + # center_point = aabb.get_center() + center_point = compute_mesh_center(mesh_obj.vertices) + + pcd_transformed.translate(-center_point) + pcd_transformed.rotate(R_y, center=(0, 0, 0)) + pcd_transformed.translate(center_point) + + T_center_to_origin = np.eye(4) + T_center_to_origin[:3, 3] = -center_point + T_origin_to_center = np.eye(4) + T_origin_to_center[:3, 3] = center_point + # 构建反向旋转矩阵 + R_y = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 1, 0]) * -angle_rad) + T_rotate_inv = np.eye(4) + T_rotate_inv[:3, :3] = R_y + # 完整的反向绕中心旋转矩阵 + T_rot_center_inv = T_origin_to_center @ T_rotate_inv @ T_center_to_origin + total_matrix = T_rot_center_inv @ total_matrix + + vertices = np.asarray(pcd_transformed.vertices) + # 计算平移向量，将最小Y值平移到0 + min_z = np.min(vertices[:, 2]) + # print("min_z2", min_z, obj_path) + translation_vector = np.array([0,0,-min_z,]) + pcd_transformed.translate(translation_vector) + + T_trans3 = np.eye(4) + T_trans3[:3, 3] = translation_vector + total_matrix = T_trans3 @ total_matrix + + # z_mean_min = min(z_mean1, z_mean2) + z_max = min(z_max1, z_max2) + + # print("get_lowest_position_of_center2 time", time.time()-start_time2) + return total_matrix, z_max + +def get_lowest_position_of_center_ext(mesh_obj, total_matrix): + # print(f"get_lowest_position_of_center_ext {obj_path}") + temp_matrix, z_max = get_lowest_position_of_z_out(mesh_obj) + + total_matrix = temp_matrix @ total_matrix + + return total_matrix, z_max + +def calculate_rotation_and_top_of_mass(angle_x, angle_y, angle_z, points): + """计算某一组旋转角度后的重心""" + # 计算绕X轴、Y轴和Z轴的旋转矩阵 + R_x = np.array([ + [1, 0, 0], + [0, np.cos(np.radians(angle_x)), -np.sin(np.radians(angle_x))], + [0, np.sin(np.radians(angle_x)), np.cos(np.radians(angle_x))] + ]) + + R_y = np.array([ + [np.cos(np.radians(angle_y)), 0, np.sin(np.radians(angle_y))], + [0, 1, 0], + [-np.sin(np.radians(angle_y)), 0, np.cos(np.radians(angle_y))] + ]) + + R_z = np.array([ + [np.cos(np.radians(angle_z)), -np.sin(np.radians(angle_z)), 0], + [np.sin(np.radians(angle_z)), np.cos(np.radians(angle_z)), 0], + [0, 0, 1] + ]) + + # 综合旋转矩阵 + R = R_z @ R_y @ R_x + + # 执行旋转 + rotated_points = points @ R.T + + # 计算最小z值 + min_z = np.min(rotated_points[:, 2]) + + # 计算平移向量，将最小Z值平移到0 + translation_vector = np.array([0, 0, -min_z]) + rotated_points += translation_vector + + top_of_mass = np.max(rotated_points, axis=0) + + return top_of_mass[2], angle_x, angle_y, angle_z + +def parallel_rotation(points, angle_step=4): + """仅绕 Y 轴旋转（假设 X/Z 轴不影响目标函数）""" + max_top = float('inf') + + for angle_x in range(-90, 90, angle_step): + for angle_y in range(0, 360, angle_step): + max_z, ax, ay, _ = calculate_rotation_and_top_of_mass(angle_x, angle_y, 0, points) + if max_z < max_top: + max_top = max_z + best_angle_x = ax + best_angle_y = ay + + return (best_angle_x, best_angle_y, 0, max_top) + +def compute_mesh_center(vertices): + + if len(vertices) == 0: + raise ValueError("顶点数组不能为空") + + # 确保vertices是NumPy数组 + vertices_np = np.asarray(vertices) + + # 使用NumPy的mean函数直接计算均值（向量化操作） + centroid = np.mean(vertices_np, axis=0) + + return centroid + +# -------------------------- 结束：获取z值最低 -------------------------- + +# -------------------------- 开始：bbox -------------------------- + +def get_models_bbox(dict_pcd_fix): + """ + 单独提取：从dict_fix中解析所有模型的包围盒（bbox）尺寸信息 + :param dict_fix: 包含PLY文件名和对应点云的字典 + :return: 模型列表（包含name和dimensions） + """ + all_models = [] + extend_dist = 2 # 尺寸扩展量（单位：厘米） + for ply_file in dict_pcd_fix: + # 解析PLY文件名中的尺寸信息（格式："模型ID=维度1+维度2+维度3.ply"） + bbox_with_text = ply_file.split("=") + bbox_with = bbox_with_text[-1] + split_text = bbox_with.replace(".ply", "").split("+") + + # 转换单位：米 → 厘米 → 加扩展量 → 转回米（int取整避免浮点数精度问题） + x_length = int(float(split_text[2]) * 100) + extend_dist # 第三个维度→x方向 + y_length = int(float(split_text[0]) * 100) + extend_dist # 第一个维度→y方向 + z_length = int(float(split_text[1]) * 100) + extend_dist # 第二个维度→z方向 + + all_models.append({ + 'name': ply_file, + 'dimensions': (int(x_length / 100), int(z_length / 100), int(y_length / 100)) # 单位：米 + }) + return all_models + +def arrange_models_on_platform(models, machine_size): + """ + 单独提取：将模型在打印平台上进行排版布局 + :param models: 由get_models_bbox返回的模型列表（包含name和dimensions） + :param machine_size: 打印机尺寸 (width, depth, height) + :return: (placed_models, unplaced_models) - 已放置和未放置的模型列表 + """ + # 初始化打印平台 + platform = Platform( + int(machine_size[0]), + int(machine_size[1]), + int(machine_size[2]) + ) + print("开始计算排序...") + platform.arrange_models(models) + platform.print_results() + return platform.get_result() + +import os + +def compute_bbox_all_ext(base_original_obj_dir,compact_min_dis=True): + + obj_id_list = [aa.split(".o")[0] for aa in os.listdir(base_original_obj_dir) if aa.endswith(".obj")] + obj_id_list = obj_id_list + + dict_mesh_obj = {} + for pid_t_y in obj_id_list: + + obj_name = pid_t_y+".obj" + obj_path = os.path.join(base_original_obj_dir,obj_name) + mesh_obj = read_mesh(obj_path) + + if mesh_obj is None: + continue + + dict_mesh_obj[obj_name] = mesh_obj + + return compute_bbox_all(dict_mesh_obj,compact_min_dis) + +def compute_bbox_all(dict_mesh_obj,compact_min_dis): + dict_total_matrix= {} + dict_pcd_fix= {} + for key, value in dict_mesh_obj.items(): + start_time = time.time() + + obj_name = key + mesh_obj = value + + total_matrix, pcd_fix, ply_name = compute_bbox(mesh_obj,obj_name,compact_min_dis) + + dict_total_matrix[obj_name] = total_matrix + dict_pcd_fix[ply_name] = pcd_fix + + print(f"compute_bbox {obj_name} time={time.time()-start_time}") + + all_models = get_models_bbox(dict_pcd_fix) + + return dict_total_matrix,all_models + +def compute_bbox(mesh_obj,obj_name,compact_min_dis): + + total_matrix = np.eye(4) + total_matrix, z_min= get_lowest_position_of_center_ext(mesh_obj, total_matrix) + + transformed_vertices = mesh_transform_by_matrix(np.asarray(mesh_obj.vertices), total_matrix) + + obj_transformed = copy.deepcopy(mesh_obj) + obj_transformed.vertices = o3d.utility.Vector3dVector(transformed_vertices) + + voxel_size = 3 # 设置体素的大小，决定下采样的密度 + # 将点云摆正和X轴平衡 + obj_transformed_second,total_matrix = arrange_box_correctly(obj_transformed,voxel_size,total_matrix) + + obj_transformed,total_matrix,pcd_fix,ply_name = get_new_bbox(obj_transformed_second,obj_name,voxel_size,compact_min_dis,total_matrix) + + return total_matrix,pcd_fix,ply_name + +def arrange_box_correctly(obj_transformed, voxel_size,total_matrix): + + vertices = np.asarray(obj_transformed.vertices) + pcd = o3d.geometry.PointCloud() + pcd.points = o3d.utility.Vector3dVector(vertices) + + # 降采样与特征计算 + pcd_downsampled = down_sample(pcd, voxel_size) + + points = np.asarray(pcd_downsampled.points) + cov = np.cov(points.T) + + center = obj_transformed.get_center() + + # 特征分解与方向约束（关键修改点） + eigen_vals, eigen_vecs = np.linalg.eigh(cov) + max_axis = eigen_vecs[:, np.argmax(eigen_vals)] + + # print("max_axis", max_axis) + # 强制主方向向量X分量为正（指向右侧） + if max_axis[0] < 0 or (max_axis[0] == 0 and max_axis[1] < 0): + max_axis = -max_axis + + target_dir = np.array([1, 0]) # 目标方向为X正轴 + current_dir = max_axis[:2] / np.linalg.norm(max_axis[:2]) + dot_product = np.dot(current_dir, target_dir) + + # print("dot_product", dot_product) + if dot_product < 0.8: # 阈值控制方向敏感性（建议0.6~0.9） + max_axis = -max_axis # 强制翻转方向 + + # 计算旋转角度 + angle_z = np.arctan2(max_axis[1], max_axis[0]) % (2 * np.pi) + + if max_axis[0] <= 0 and max_axis[1] <= 0: + angle_z += np.pi + + R = o3d.geometry.get_rotation_matrix_from_axis_angle([0, 0, -angle_z]) + + T = np.eye(4) + T[:3, :3] = R + T[:3, 3] = center - R.dot(center) # 保持中心不变 + obj_transformed.transform(T) + + total_matrix = T @ total_matrix + + return obj_transformed, total_matrix + +def get_new_bbox(obj_transformed_second,obj_name,voxel_size,compact_min_dis,total_matrix): + + # 计算点云的边界 + points = np.asarray(obj_transformed_second.vertices) + + min_bound = np.min(points, axis=0) # 获取点云的最小边界 + max_bound = np.max(points, axis=0) # 获取点云的最大边界 + + # 确保包围盒的Y坐标不低于0 + min_bound[2] = max(min_bound[2], 0) # 确保Y坐标的最小值不低于0 + + # 重新计算包围盒的中心和半长轴 + bbox_center = (min_bound + max_bound) / 2 # 计算包围盒的中心点 + bbox_extent = (max_bound - min_bound) # 计算包围盒的半长轴（尺寸） + + # 创建包围盒，确保尺寸正确 + new_bbox = o3d.geometry.OrientedBoundingBox(center=bbox_center, + R=np.eye(3), # 旋转矩阵，默认没有旋转 + extent=bbox_extent) + # 获取包围盒的长、宽和高 + x_length = round(bbox_extent[0],3) # X 方向的长 + y_length = round(bbox_extent[1],3) # Y 方向的宽 + z_length = round(bbox_extent[2],3) # Z 方向的高 + bbox_points = np.array([ + [min_bound[0], min_bound[1], min_bound[2]], + [max_bound[0], min_bound[1], min_bound[2]], + [max_bound[0], max_bound[1], min_bound[2]], + [min_bound[0], max_bound[1], min_bound[2]], + [min_bound[0], min_bound[1], max_bound[2]], + [max_bound[0], min_bound[1], max_bound[2]], + [max_bound[0], max_bound[1], max_bound[2]], + [min_bound[0], max_bound[1], max_bound[2]] + ]) + first_corner = bbox_points[2] + translation_vector = -first_corner + obj_transformed_second.translate(translation_vector) + + T_trans = np.eye(4) + T_trans[:3, 3] = translation_vector # 设置平移分量 [2,3](@ref) + total_matrix = T_trans @ total_matrix # 矩阵乘法顺序：最新变换左乘[4,5](@ref) + + new_bbox.translate(translation_vector) + + vertices = np.asarray(obj_transformed_second.vertices) + pcd = o3d.geometry.PointCloud() + pcd.points = o3d.utility.Vector3dVector(vertices) + if compact_min_dis: + pcd_downsampled = down_sample(pcd, voxel_size, False) + pcd_fix = pcd_downsampled + else: + pcd_fix = pcd + + ply_print_pid = obj_name.replace(".obj","") + ply_name = f"{ply_print_pid}={z_length}+{y_length}+{x_length}.ply" + + return obj_transformed_second, total_matrix, pcd_fix, ply_name + +class Platform: + def __init__(self, width, depth, height): + self.width = width + self.depth = depth + self.height = height + self.placed_models = [] # 已放置的模型 + self.unplaced_models = [] # 未能放置的模型 + self.first_line = True + self.remove_multiobj_name = "" + + def is_cross_border(self, x, y, z, model): + mx, my, mz = model['dimensions'] + + return is_cross_border_c(x, y, z, mx, my, mz, self.width, self.depth, self.height) + + def check_multiobj_cross_pre(self, name, pre_model): + if (pre_model==None): + return + + if not is_same_obj(name, pre_model['name']): + return + + self.unplaced_models.append(pre_model) + if pre_model in self.placed_models: + self.placed_models.remove(pre_model) + + if "pre_model" in pre_model: + self.pre_model = pre_model["pre_model"] + + self.check_multiobj_cross_pre(name, self.pre_model) + + def check_multiobj_cross(self, model): + if not is_multi_obj(model['name']): + return False + + self.unplaced_models.append(model) + + if "pre_model" in model: + self.pre_model = model["pre_model"] + + self.check_multiobj_cross_pre(model['name'], self.pre_model) + + return True + + def can_place(self, x, y, z, model, is_print=False): + mx, my, mz = model['dimensions'] + + if self.is_cross_border(x, y, z, model): + + print(f"can_place False 1 cross_border {x}, {y}, {z}, {model}, {self.width}, {self.depth}, {self.height}") + return False + + # 碰撞检测（正确逻辑与间距处理） + for placed in self.placed_models: + px, py, pz = placed['position'] + pdx, pdy, pdz = placed['dimensions'] + + # 使用AABB碰撞检测算法[4](@ref) + if (x > px - pdx - extend_dist_model_x and + x - mx - extend_dist_model_x < px and + y > py - pdy - extend_dist_model_y and + y - my - extend_dist_model_y < py and + z < pz + pdz and + z + mz > pz): + print("can_place False 2",False,model,x,y,z,px,pdx,extend_dist_model_x,py,pdy,extend_dist_model_y,my,pz,pdz,pz) + return False + + return True + + def place_model(self, model, pre_model): + mx, my, mz = model['dimensions'] + if mz > self.height: + self.unplaced_models.append(model) + return False + + if is_same_obj(model['name'], self.remove_multiobj_name): + self.unplaced_models.append(model) + return False + + z = 0 + + if pre_model is None: + if self.first_line: + model['position'] = (mx + extend_dist_border_x_min, self.depth - extend_dist_border_y_max, 0) + print(f"First Model {model['name']}") + model['first_line'] = True + else: + model['position'] = (self.width - extend_dist_border_x_max, self.depth - extend_dist_border_y_max, 0) + model['first_line'] = False + + print("model position1", model['name'], model['position']) + self.placed_models.append(model) + return True + + pre_px, pre_py, pre_pz = pre_model['position'] + pre_mx, pre_my, pre_mz = pre_model['dimensions'] + if self.first_line: + px = pre_px + mx + extend_dist_model_x + model['first_line'] = True + else: + px = pre_px - pre_mx - extend_dist_model_x + model['first_line'] = False + print(model['name'], "px", px, pre_px, pre_mx) + + reach_limit_x = False + if self.first_line: + if px > self.width: + reach_limit_x = True + else: + if px - mx < 0: + reach_limit_x = True + + if reach_limit_x: + self.first_line = False + px = self.width - extend_dist_border_x_max + start_y = my + extend_dist_border_y_min + final_y = self.depth + print("reach_limit_x final_y1", model['name'], my, final_y, my, extend_dist_border_x_max, px) + for y in range(start_y, final_y, +1): + # print("y",y) + if self.can_place(px, y, z, model, True)==False: + y -= 1 + + if self.is_cross_border(px, y, z, model): + print(f"cross border : {model['name']}") + if self.check_multiobj_cross(model): + self.remove_multiobj_name = model['name'] + return False + + model['position'] = (px, y, z) + print("model position2", model['name'], model['position']) + self.placed_models.append(model) + return True + else: + start_y = my + extend_dist_border_y_min + final_y = self.depth + print("final_y2", model['name'], start_y, final_y, my, extend_dist_border_y_max, px) + for y in range(start_y, final_y, +1): + if self.can_place(px, y, z, model)==False: + y -= 1 + + if self.is_cross_border(px, y, z, model): + print(f"cross border : {model['name']}") + if self.check_multiobj_cross(model): + self.remove_multiobj_name = model['name'] + return False + + model['position'] = (px, y, z) + print("model position2", model['name'], model['position']) + self.placed_models.append(model) + return True + + if 'position' in model: + print("model position3", model['name'], model['position']) + else: + print("model position3 no exist position", model['name']) + + self.unplaced_models.append(model) + return False + + def arrange_models(self, models): + + """对所有模型进行排布（单层）""" + print("⚠️ 单层放置模式：所有模型只能放在平台底面（Z=0）") + # 按高度和面积排序，优先放大模型 + models = sorted(models, key=lambda m: (-m['dimensions'][2], -m['dimensions'][0] * m['dimensions'][1])) + self.pre_model = None + for model in models: + print(f"arrange_models {model['name']}") + pre_model_temp = self.pre_model + if self.place_model(model, self.pre_model): + self.pre_model = model + + model["pre_model"] = pre_model_temp + + def print_results(self): + """打印排布结果""" + print("Placed Models:") + for model in self.placed_models: + print(f" - {model['name']} at {model['position']} with dimensions {model['dimensions']}") + print("Unplaced Models:") + for model in self.unplaced_models: + print(f" - {model['name']} with dimensions {model['dimensions']}") + + def get_result(self): + return self.placed_models, self.unplaced_models + +# -------------------------- 结束：bbox -------------------------- + +if __name__ == '__main__': + + parser = argparse.ArgumentParser() + parser.add_argument("--obj_path", type=str, required=True, help="batchobj_path_id") + args = parser.parse_args() + + obj_path = args.obj_path + max, z = get_lowest_position_of_z_out(obj_path) + diff --git a/config.py b/config.py new file mode 100644 index 0000000..3623e44 --- /dev/null +++ b/config.py @@ -0,0 +1,18 @@ +from enum import Enum +class run_mode(Enum): + formal = 1 + test = 2 + fix = 3 + +# !!！谨慎选择run_mode.fix，这将把修复的数据上传到正式的系统 !!！ +curr_run_mode = run_mode.test + +is_test = True + +# print_factory_type_dir="/root/print_factory_type" +print_factory_type_dir="/home/algo/Documents/print_factory_type" + +url_send_layout = 'https://mp.api.suwa3d.com/api/printTypeSettingOrder/printTypeSettingOrderSuccess' + +big_machine_size = [600, 500, 300] +small_machine_size = [380, 345, 250] diff --git a/download_print.py b/download_print.py index 4b79924..a34ed3a 100644 --- a/download_print.py +++ b/download_print.py @@ -13,7 +13,10 @@ import math import os import argparse -is_test = False +from config import print_factory_type_dir +from config import is_test + +from general import is_use_debug_oss CameraModel = collections.namedtuple( "CameraModel", ["model_id", "model_name", "num_params"] @@ -1399,12 +1402,8 @@ def download_transform_save_by_batch(batch_id, workdir, oss_config): layout_data = datas["layout_data"] original_obj_pid_dir = workdir - cache_type_setting_dir = os.path.join(workdir, "arrange") - Path(cache_type_setting_dir).mkdir(exist_ok=True) - - print(f"original_obj_pid_dir={original_obj_pid_dir}, cache_type_setting_dir={cache_type_setting_dir}") - transform_save(layout_data, original_obj_pid_dir, cache_type_setting_dir) + transform_save_o3d(layout_data, original_obj_pid_dir) def download_datas_by_json(pid_file, workdir, oss_config): @@ -1427,12 +1426,8 @@ def download_transform_save_by_json(pid_file, workdir, oss_config): layout_data = download_datas_by_json(pid_file, workdir, oss_config) original_obj_pid_dir = workdir - cache_type_setting_dir = os.path.join(workdir, "arrange") - Path(cache_type_setting_dir).mkdir(exist_ok=True) - - print(f"original_obj_pid_dir={original_obj_pid_dir}, cache_type_setting_dir={cache_type_setting_dir}") - transform_save(layout_data, original_obj_pid_dir, cache_type_setting_dir) + transform_save_o3d(layout_data, original_obj_pid_dir) def upload_result(base_original_obj_dir, oss_config, batch_id): @@ -1442,7 +1437,9 @@ def upload_result(base_original_obj_dir, oss_config, batch_id): target_dir = f"{base_original_obj_dir}" oss_batch_dir = "batchPrint" - if is_test: + print(f"is_use_debug_oss={is_use_debug_oss()}") + if is_use_debug_oss(): + # if is_test: oss_batch_dir = "batchPrint/debug_hsc" print(f"target_dir={target_dir}, batch_id={batch_id}") @@ -1456,52 +1453,6 @@ def upload_result(base_original_obj_dir, oss_config, batch_id): pass import open3d as o3d -from test_load_json import custom_mesh_transform - -def transform_save(layout_data, original_obj_pid_dir, cache_type_setting_dir): - meshes = [] - # 小打印机380*345，需要偏移-380,-345 - need_offset = True - for model in layout_data["models"]: - transform = model.get('transform', {}) - - homo_matrix = transform["homo_matrix"] # 获取存储的列表 - reconstructed_matrix = np.array(homo_matrix, dtype=np.float64) - - obj_name = model.get('file_name', '') - obj_path = os.path.join(original_obj_pid_dir, obj_name) - # 加载网格 - try: - mesh = o3d.io.read_triangle_mesh(obj_path, enable_post_processing=True) - if not mesh.has_vertices(): - print(f"警告: 网格无有效顶点 - {obj_path}") - continue - except Exception as e: - print(f"加载模型失败: {obj_path} - {e}") - continue - - original_vertices = np.asarray(mesh.vertices) - - transformed_vertices = custom_mesh_transform(original_vertices, reconstructed_matrix) - # 如果 need_offset 为 True，应用额外的偏移 - if need_offset: - # 应用偏移 (-380, -345, 0) - offset = np.array([-380, -345, 0]) - transformed_vertices += offset - print(f"已对模型 {obj_name} 应用偏移: {offset}") - - mesh.vertices = o3d.utility.Vector3dVector(transformed_vertices) - - meshes.append(mesh) - - # obj_path_arrange = os.path.join(original_obj_pid_dir, "arrange") - obj_path_arrange = cache_type_setting_dir - if not os.path.exists(obj_path_arrange): - os.mkdir(obj_path_arrange) - obj_path_arrange_obj = os.path.join(obj_path_arrange, obj_name) - print("obj_path_arrange_obj", obj_path_arrange_obj) - mesh.compute_vertex_normals() - o3d.io.write_triangle_mesh(obj_path_arrange_obj, mesh,write_triangle_uvs=True) if __name__ == "__main__": parser = argparse.ArgumentParser() @@ -1517,9 +1468,8 @@ if __name__ == "__main__": args = parser.parse_args() """ # batch_id = args.batch_id - batch_id = 2499 + batch_id = 10118 - print_factory_type_dir="/root/print_factory_type" # workdir = args.workdir workdir = f"{print_factory_type_dir}/{batch_id}" diff --git a/download_print_out.py b/download_print_out.py index 26626e6..b9a29c6 100644 --- a/download_print_out.py +++ b/download_print_out.py @@ -1,33 +1,22 @@ import yaml import oss2 -import os from tqdm import tqdm import os -from pathlib import Path import numpy as np import os import argparse - +import bpy +import sys import open3d as o3d -def custom_mesh_transform(vertices, transform_matrix): - """ - 手动实现网格变换：对每个顶点应用齐次变换矩阵 - 参数: - vertices: 网格顶点数组 (N, 3) - transform_matrix: 4x4 齐次变换矩阵 - 返回: - 变换后的顶点数组 (N, 3) - """ - # 1. 顶点转齐次坐标 (N, 3) → (N, 4) - homogeneous_vertices = np.hstack((vertices, np.ones((vertices.shape[0], 1)))) - - # 2. 应用变换矩阵：矩阵乘法 (4x4) * (4xN) → (4xN) - transformed_homogeneous = transform_matrix @ homogeneous_vertices.T - - # 3. 转回非齐次坐标 (3xN) → (N, 3) - transformed_vertices = transformed_homogeneous[:3, :].T - return transformed_vertices +import requests +import json +import shutil + +def download_transform_save_by_json(pid_file, workdir, oss_config): + layout_data = download_datas_by_json(pid_file, workdir, oss_config) + original_obj_pid_dir = workdir + transform_save_bpy(layout_data, original_obj_pid_dir) class DataTransfer: ''' @@ -43,10 +32,6 @@ class DataTransfer: self.oss_path = oss_path.lstrip('/') self.oss_client = oss_client - order_id: str - pid: str - model_height: str - def download_data_rename_json(self, json_model_info): """ 从 OSS 下载数据到本地，保持原有目录结构 @@ -163,10 +148,6 @@ class DataTransfer: print(f"下载文件: {obj_key} -> {local_path}") -import requests -import json -import shutil - def get_api(url): try: response = requests.get(url) @@ -185,6 +166,7 @@ class JSONModelInfo: obj_name: str order_id: str pid: str + print_order_id: str model_height: str def read_pids_from_json(pid_file): @@ -217,15 +199,19 @@ def read_pids_from_json(pid_file): order_id = parts[0] pid = parts[1] + print_order_id = parts[2] + print_order_id = print_order_id.replace("P", "") model_height = parts[3] model_info = JSONModelInfo( obj_name=obj_name, order_id=order_id, pid=pid, + print_order_id=print_order_id, model_height=model_height ) list_model_info.append(model_info) + print(f"model_info={model_info}") return list_model_info, data @@ -233,7 +219,6 @@ def download_data_by_json(model_info, workdir, oss_client ): try: pid = model_info.pid model_height = model_info.model_height - # target_dir = f"{workdir}/{pid}_image" target_dir = f"{workdir}" url = f"https://mp.api.suwa3d.com/api/order/getOssSuffixByOrderId?order_id={model_info.order_id}" @@ -252,7 +237,7 @@ def download_data_by_json(model_info, workdir, oss_client ): shutil.rmtree(target_dir) print(f"下载后检查发现目标文件夹为空，已删除: {target_dir}") except Exception as e: - print(f"卡通图片下载失败: {pid}, 错误: {str(e)}") + print(f"下载失败: {pid}, 错误: {str(e)}") pass def get_oss_client(cfg_path): @@ -286,69 +271,24 @@ def download_datas_by_json(pid_file, workdir, oss_config): return data -def download_transform_save_by_json(pid_file, workdir, oss_config): - layout_data = download_datas_by_json(pid_file, workdir, oss_config) - - original_obj_pid_dir = workdir - cache_type_setting_dir = os.path.join(workdir, "arrange") - Path(cache_type_setting_dir).mkdir(exist_ok=True) - - print(f"original_obj_pid_dir={original_obj_pid_dir}, cache_type_setting_dir={cache_type_setting_dir}") - - transform_save(layout_data, original_obj_pid_dir, cache_type_setting_dir) - -def transform_save(layout_data, original_obj_pid_dir, cache_type_setting_dir): - meshes = [] - # 小打印机380*345，需要偏移-380,-345 - need_offset = True - for model in layout_data["models"]: - transform = model.get('transform', {}) - - homo_matrix = transform["homo_matrix"] # 获取存储的列表 - reconstructed_matrix = np.array(homo_matrix, dtype=np.float64) - - obj_name = model.get('file_name', '') - obj_path = os.path.join(original_obj_pid_dir, obj_name) - # 加载网格 - try: - mesh = o3d.io.read_triangle_mesh(obj_path, enable_post_processing=True) - if not mesh.has_vertices(): - print(f"警告: 网格无有效顶点 - {obj_path}") - continue - except Exception as e: - print(f"加载模型失败: {obj_path} - {e}") - continue - - original_vertices = np.asarray(mesh.vertices) - - transformed_vertices = custom_mesh_transform(original_vertices, reconstructed_matrix) - # 如果 need_offset 为 True，应用额外的偏移 - if need_offset: - # 应用偏移 (-380, -345, 0) - offset = np.array([-380, -345, 0]) - transformed_vertices += offset - print(f"已对模型 {obj_name} 应用偏移: {offset}") - - mesh.vertices = o3d.utility.Vector3dVector(transformed_vertices) +if __name__ == "__main__": - meshes.append(mesh) + script_args = [] - # obj_path_arrange = os.path.join(original_obj_pid_dir, "arrange") - obj_path_arrange = cache_type_setting_dir - if not os.path.exists(obj_path_arrange): - os.mkdir(obj_path_arrange) - obj_path_arrange_obj = os.path.join(obj_path_arrange, obj_name) - print("obj_path_arrange_obj", obj_path_arrange_obj) - mesh.compute_vertex_normals() - o3d.io.write_triangle_mesh(obj_path_arrange_obj, mesh,write_triangle_uvs=True) + try: + separator_index = sys.argv.index("--") + script_args = sys.argv[separator_index + 1:] + except ValueError: + pass -if __name__ == "__main__": parser = argparse.ArgumentParser() parser.add_argument("--pid_file", type=str, required=True, help="批次号, 也是json文件名") - parser.add_argument("--workdir", type=str, required=True, help="本代码文件所在的目录") - parser.add_argument("--oss_config", type=str, required=True) - args = parser.parse_args() + parser.add_argument("--workdir", type=str, required=True, help="json文件所在的目录") + parser.add_argument("--oss_config", type=str, required=True, help="run.yaml所在的目录") + args = parser.parse_args(script_args) download_transform_save_by_json(args.pid_file, args.workdir, args.oss_config) + + # blender --background --python download_print_out.py -- --pid_file {your_batch_id} --workdir {your_batch_dir} --oss_config {your_yaml_dir/run.yaml} \ No newline at end of file diff --git a/general.py b/general.py new file mode 100644 index 0000000..c5f6acb --- /dev/null +++ b/general.py @@ -0,0 +1,286 @@ +import open3d as o3d +import numpy as np +import re +from config import * + +# -------------------------- 开始：运行 ---------------------------------- + +def is_run_local_data(): + if curr_run_mode == run_mode.formal: + return False + return True + +def need_upload_result(): + if curr_run_mode == run_mode.test: + return False + return True + +def is_use_debug_oss(): + if curr_run_mode == run_mode.test: + return True + return False + +# -------------------------- 结束：运行 ---------------------------------- + +# -------------------------- 开始：模型 ---------------------------------- + +def read_mesh(obj_path): + mesh_obj = o3d.io.read_triangle_mesh(obj_path) + return mesh_obj + +def down_sample(pcd, voxel_size, farthest_sample = False): + original_num = len(pcd.points) + target_samples = 1500 # 1000 + num_samples = min(target_samples, original_num) + + # 第一步：使用体素下采样快速减少点数量 + # voxel_size = 3 + if farthest_sample: + pcd_voxel = pcd.farthest_point_down_sample(num_samples=num_samples) + else: + pcd_voxel = pcd.voxel_down_sample(voxel_size) + down_num = len(pcd_voxel.points) + # print(f"original_num={original_num}, down_num={down_num}") + + # 第二步：仅在必要时进行最远点下采样 + if len(pcd_voxel.points) > target_samples and False: + pcd_downsampled = pcd_voxel.farthest_point_down_sample(num_samples=num_samples) + else: + pcd_downsampled = pcd_voxel + + return pcd_downsampled + +def get_volume_centroid(mesh): + """向量化版本的体积重心计算""" + vertices = np.asarray(mesh.vertices) + triangles = np.asarray(mesh.triangles) + + # 一次性获取所有三角形的顶点 [n_triangles, 3, 3] + tri_vertices = vertices[triangles] + + # 分别提取三个顶点 + v0 = tri_vertices[:, 0, :] # [n, 3] + v1 = tri_vertices[:, 1, :] # [n, 3] + v2 = tri_vertices[:, 2, :] # [n, 3] + + # 向量化计算叉积和点积 + cross_vec = np.cross(v1, v2) # [n, 3] + dot_results = np.einsum('ij,ij->i', v0, cross_vec) # 批量点积 [n] + + # 计算每个四面体体积 [n] + tetra_volumes = np.abs(dot_results) / 6.0 + + # 计算每个四面体重心 [n, 3] + tetra_centers = (v0 + v1 + v2) / 4.0 + + # 总体积和加权重心 + total_volume = np.sum(tetra_volumes) + + if total_volume > 0: + weighted_center = np.sum(tetra_volumes[:, np.newaxis] * tetra_centers, axis=0) / total_volume + return weighted_center + else: + return np.mean(vertices, axis=0) + +def mesh_tranform_to_pcd(mesh, transform_matrix): + vertices = np.asarray(mesh.vertices) + + transformed_vertices = mesh_transform_by_matrix(vertices, transform_matrix) + mesh.vertices = o3d.utility.Vector3dVector(transformed_vertices) + + return mesh_to_pcd(mesh) + +def mesh_to_pcd(mesh, is_down_sample=True): + + vertices = np.asarray(mesh.vertices) + pcd = o3d.geometry.PointCloud() + pcd.points = o3d.utility.Vector3dVector(vertices) + + if is_down_sample: + pcd_downsampled = down_sample(pcd, voxel_size, False) + return pcd_downsampled + else: + return pcd + +def mesh_transform_by_matrix(vertices, transform_matrix): + """ + 手动实现网格变换：对每个顶点应用齐次变换矩阵 + 参数: + vertices: 网格顶点数组 (N, 3) + transform_matrix: 4x4 齐次变换矩阵 + 返回: + 变换后的顶点数组 (N, 3) + """ + # 1. 顶点转齐次坐标 (N, 3) → (N, 4) + homogeneous_vertices = np.hstack((vertices, np.ones((vertices.shape[0], 1)))) + + # 2. 应用变换矩阵：矩阵乘法 (4x4) * (4xN) → (4xN) + transformed_homogeneous = transform_matrix @ homogeneous_vertices.T + + # 3. 转回非齐次坐标 (3xN) → (N, 3) + transformed_vertices = transformed_homogeneous[:3, :].T + return transformed_vertices + +import os + +def transform_save_bpy(layout_data, original_obj_pid_dir): + # 清除场景 + bpy.ops.object.select_all(action='SELECT') + bpy.ops.object.delete(use_global=False) + + ## 尺寸调整，环境设置 + bpy.ops.object.delete(use_global=False, confirm=False) + bpy.context.scene.unit_settings.length_unit = 'CENTIMETERS' + bpy.context.scene.unit_settings.scale_length = 0.001 + bpy.context.scene.unit_settings.mass_unit = 'GRAMS' + + meshes = [] + need_offset = True + for model in layout_data["models"]: + transform = model.get('transform', {}) + homo_matrix = transform["homo_matrix"] + reconstructed_matrix = np.array(homo_matrix, dtype=np.float64) + + obj_name = model.get('file_name', '') + obj_path = os.path.join(original_obj_pid_dir, obj_name) + + mtl_name_temp = obj_name + separator = "_P" + index = mtl_name_temp.find(separator) + if index != -1: + old_mtl_name = mtl_name_temp[:index] + else: + old_mtl_name = mtl_name_temp # 或者你希望的其他处理逻辑，比如直接使用原字符串或报错 + old_mtl_name = f"{old_mtl_name}.mtl" + old_mtl_path = os.path.join(original_obj_pid_dir, old_mtl_name) + + bpy.ops.wm.obj_import(filepath=obj_path) + imported_object = bpy.context.object + + if imported_object is None or imported_object.type != 'MESH': + print(f"警告: 未能成功导入网格对象 {obj_name}。跳过。") + continue + + mesh_data = imported_object.data + mesh_data.calc_loop_triangles() + original_vertices = np.empty(len(mesh_data.vertices) * 3, dtype=np.float64) + mesh_data.vertices.foreach_get('co', original_vertices) + original_vertices = original_vertices.reshape(-1, 3) + + transformed_vertices = mesh_transform_by_matrix(original_vertices, reconstructed_matrix) + if need_offset: + offset = np.array([-small_machine_size[0], -small_machine_size[1], 0]) + transformed_vertices += offset + print(f"已对模型 {obj_name} 应用偏移: {offset}") + + flattened_verts = transformed_vertices.reshape(-1) + mesh_data.vertices.foreach_set('co', flattened_verts) + + mesh_data.update() + + meshes.append(imported_object) + + # 导出前确保选中当前对象 + bpy.ops.object.select_all(action='DESELECT') + imported_object.select_set(True) + bpy.context.view_layer.objects.active = imported_object + bpy.ops.wm.obj_export( + filepath=obj_path, + export_selected_objects=True, + export_materials=True, + path_mode='AUTO' + ) + + os.remove(old_mtl_path) + +def transform_save_o3d(layout_data, original_obj_pid_dir): + meshes = [] + # 小打印机需要偏移[-small_machine_size[0], -small_machine_size[1], 0] + need_offset = True + for model in layout_data["models"]: + transform = model.get('transform', {}) + + homo_matrix = transform["homo_matrix"] # 获取存储的列表 + reconstructed_matrix = np.array(homo_matrix, dtype=np.float64) + + obj_name = model.get('file_name', '') + obj_path = os.path.join(original_obj_pid_dir, obj_name) + # 加载网格 + try: + mesh = o3d.io.read_triangle_mesh(obj_path, enable_post_processing=True) + if not mesh.has_vertices(): + print(f"警告: 网格无有效顶点 - {obj_path}") + continue + except Exception as e: + print(f"加载模型失败: {obj_path} - {e}") + continue + + original_vertices = np.asarray(mesh.vertices) + + transformed_vertices = mesh_transform_by_matrix(original_vertices, reconstructed_matrix) + # 如果 need_offset 为 True，应用额外的偏移 + if need_offset: + offset = np.array([-small_machine_size[0], -small_machine_size[1], 0]) + transformed_vertices += offset + print(f"已对模型 {obj_name} 应用偏移: {offset}") + + mesh.vertices = o3d.utility.Vector3dVector(transformed_vertices) + + meshes.append(mesh) + + obj_path_arrange = os.path.join(original_obj_pid_dir, "arrange") + if not os.path.exists(obj_path_arrange): + os.mkdir(obj_path_arrange) + obj_path_arrange_obj = os.path.join(obj_path_arrange, obj_name) + print("obj_path_arrange_obj", obj_path_arrange_obj) + mesh.compute_vertex_normals() + o3d.io.write_triangle_mesh(obj_path_arrange_obj, mesh,write_triangle_uvs=True) + +voxel_size = 3 + +def is_multi_obj(obj_name): + pattern = r'_x(\d+)' + match = re.search(pattern, obj_name) + if match: + number = match.group(1) + + if int(number) > 1 : + return True + + return False + +def is_same_obj(obj_name1, obj_name2): + + pre_name1 = obj_name1.split("_x")[0] + pre_name2 = obj_name2.split("_x")[0] + + print(f"pre_name1={pre_name1}, pre_name2={pre_name2}") + + if (pre_name1==pre_name2): + return True + + return False + +# -------------------------- 结束：模型 ---------------------------------- + +# -------------------------- 开始：碰撞检测和越界 -------------------------- + +extend_dist_border_x_min = 6 +extend_dist_border_x_max = 3 +extend_dist_border_z_max = 3 +extend_dist_border_y_min = 6 +extend_dist_border_y_max = 6 +extend_dist_model_x = 4 +extend_dist_model_y = 2 +extend_dist_model_z = 2 +extend_dist_box = 1 +def is_cross_border_c(x, y, z, mx, my, mz, max_x, max_y, max_z): + if (x - mx < extend_dist_border_x_min or + y - my < extend_dist_border_y_min or + z + mz > max_z - extend_dist_border_z_max or + y > max_y - extend_dist_border_y_max): + return True + + return False + +# -------------------------- 结束：碰撞检测和越界 -------------------------- diff --git a/get_lowest_position_of_center_ext.py b/get_lowest_position_of_center_ext.py deleted file mode 100644 index f64a5b2..0000000 --- a/get_lowest_position_of_center_ext.py +++ /dev/null @@ -1,847 +0,0 @@ -import open3d as o3d -import numpy as np -import copy -import time -from get_lowest_position_of_z_out import get_lowest_position_of_z_out - -# 对外部提供的获取最低z的接口 -def get_lowest_position_of_center_out2(obj_path): - - total_matrix = np.eye(4) - - mesh_obj = o3d.io.read_triangle_mesh(obj_path) - - voxel_size = 3 - - return get_lowest_position_of_center(mesh_obj, obj_path, total_matrix, voxel_size) - -def calculate_rotation_and_center_of_mass(angle_x, angle_y, angle_z, points): - """计算某一组旋转角度后的重心""" - # 计算绕X轴、Y轴和Z轴的旋转矩阵 - R_x = np.array([ - [1, 0, 0], - [0, np.cos(np.radians(angle_x)), -np.sin(np.radians(angle_x))], - [0, np.sin(np.radians(angle_x)), np.cos(np.radians(angle_x))] - ]) - - R_y = np.array([ - [np.cos(np.radians(angle_y)), 0, np.sin(np.radians(angle_y))], - [0, 1, 0], - [-np.sin(np.radians(angle_y)), 0, np.cos(np.radians(angle_y))] - ]) - - R_z = np.array([ - [np.cos(np.radians(angle_z)), -np.sin(np.radians(angle_z)), 0], - [np.sin(np.radians(angle_z)), np.cos(np.radians(angle_z)), 0], - [0, 0, 1] - ]) - - # 综合旋转矩阵 - R = R_z @ R_y @ R_x - - # 执行旋转 - rotated_points = points @ R.T - - # 计算最小z值 - min_z = np.min(rotated_points[:, 2]) - - # 计算平移向量，将最小Z值平移到0 - translation_vector = np.array([0, 0, -min_z]) - rotated_points += translation_vector - - # 计算重心 - center_of_mass = np.mean(rotated_points, axis=0) - - return center_of_mass[2], angle_x, angle_y, angle_z - -def parallel_rotation4(points, angle_step=4): - """仅绕 Y 轴旋转（假设 X/Z 轴不影响目标函数）""" - min_center = float('inf') - - for angle_x in range(-45, 45, angle_step): - for angle_y in range(0, 360, angle_step): - center_z, ax, ay, _ = calculate_rotation_and_center_of_mass(angle_x, angle_y, 0, points) - if center_z < min_center: - min_center = center_z - best_angle_x = ax - best_angle_y = ay - - return (best_angle_x, best_angle_y, 0, min_center) - -import numpy as np -from numba import cuda -import math - -# CUDA核函数：计算所有旋转角度下的重心高度 -@cuda.jit -def compute_centers_kernel(points, centers, angle_x_start, angle_x_step, angle_y_start, angle_y_step, num_x, num_y): - i = cuda.blockIdx.x * cuda.blockDim.x + cuda.threadIdx.x - j = cuda.blockIdx.y * cuda.blockDim.y + cuda.threadIdx.y - - if i >= num_x or j >= num_y: - return - - # 获取整数角度值 - angle_x = angle_x_start + i * angle_x_step - angle_y = angle_y_start + j * angle_y_step - - rx = math.radians(float(angle_x)) # 使用 float() 进行转换 - ry = math.radians(float(angle_y)) - rz = 0.0 - - # 计算旋转矩阵 - cos_x = math.cos(rx) - sin_x = math.sin(rx) - cos_y = math.cos(ry) - sin_y = math.sin(ry) - cos_z = math.cos(rz) - sin_z = math.sin(rz) - - # 旋转矩阵: R = R_z * R_y * R_x - R00 = cos_z * cos_y - R01 = cos_z * sin_y * sin_x - sin_z * cos_x - R02 = cos_z * sin_y * cos_x + sin_z * sin_x - R10 = sin_z * cos_y - R11 = sin_z * sin_y * sin_x + cos_z * cos_x - R12 = sin_z * sin_y * cos_x - cos_z * sin_x - R20 = -sin_y - R21 = cos_y * sin_x - R22 = cos_y * cos_x - - n = points.shape[0] - min_z = 1e10 - - # 第一遍：计算最小Z值 - for k in range(n): - x = points[k, 0] - y = points[k, 1] - z = points[k, 2] - - x_rot = R00 * x + R01 * y + R02 * z - y_rot = R10 * x + R11 * y + R12 * z - z_rot = R20 * x + R21 * y + R22 * z - - if z_rot < min_z: - min_z = z_rot - - total_z = 0.0 - # 第二遍：平移并计算Z坐标和 - for k in range(n): - x = points[k, 0] - y = points[k, 1] - z = points[k, 2] - - x_rot = R00 * x + R01 * y + R02 * z - y_rot = R10 * x + R11 * y + R12 * z - z_rot = R20 * x + R21 * y + R22 * z - - z_trans = z_rot - min_z - total_z += z_trans - - center_z = total_z / n - centers[i, j] = center_z - -# CUDA版本的并行旋转计算 -def parallel_rotation4_cuda(points, angle_step=4): - angle_x_start = -45 - angle_x_end = 45 - angle_y_start = 0 - angle_y_end = 360 - - num_x = int((angle_x_end - angle_x_start) / angle_step) - num_y = int((angle_y_end - angle_y_start) / angle_step) - - # 将点云数据复制到GPU - d_points = cuda.to_device(points.astype(np.float32)) - d_centers = cuda.device_array((num_x, num_y), dtype=np.float32) - - # 配置线程块和网格 - threadsperblock = (16, 16) - blockspergrid_x = (num_x + threadsperblock[0] - 1) // threadsperblock[0] - blockspergrid_y = (num_y + threadsperblock[1] - 1) // threadsperblock[1] - blockspergrid = (blockspergrid_x, blockspergrid_y) - - # 启动核函数 - compute_centers_kernel[blockspergrid, threadsperblock]( - d_points, d_centers, angle_x_start, angle_step, angle_y_start, angle_step, num_x, num_y - ) - - # 将结果复制回主机 - centers = d_centers.copy_to_host() - - # 找到最小重心值的索引 - min_index = np.argmin(centers) - i = min_index // num_y - j = min_index % num_y - - best_angle_x = angle_x_start + i * angle_step - best_angle_y = angle_y_start + j * angle_step - min_center = centers[i, j] - - return best_angle_x, best_angle_y, 0, min_center - -def read_mesh(obj_path, simple=True): - mesh_obj = o3d.io.read_triangle_mesh(obj_path) - return mesh_obj - -def compute_mesh_center2(vertices): - """ - 计算网格质心 - - 参数: - vertices: 顶点坐标数组，形状为(N, 3)的NumPy数组或列表 - - 返回: - centroid: 质心坐标的NumPy数组 [x, y, z] - """ - if len(vertices) == 0: - raise ValueError("顶点数组不能为空") - - n = len(vertices) # 顶点数量 - # 初始化坐标累加器 - sum_x, sum_y, sum_z = 0.0, 0.0, 0.0 - - start_time1 = time.time() - # 遍历所有顶点累加坐标值 - for vertex in vertices: - sum_x += vertex[0] - sum_y += vertex[1] - sum_z += vertex[2] - print("compute_mesh_center1 time", time.time()-start_time1) - - # 计算各坐标轴的平均值 - centroid = np.array([sum_x / n, sum_y / n, sum_z / n]) - return centroid - -def compute_mesh_center(vertices): - """ - 计算网格质心（优化版） - - 参数: - vertices: 顶点坐标数组，形状为(N, 3)的NumPy数组或列表 - - 返回: - centroid: 质心坐标的NumPy数组 [x, y, z] - """ - if len(vertices) == 0: - raise ValueError("顶点数组不能为空") - - # 确保vertices是NumPy数组 - vertices_np = np.asarray(vertices) - - # 使用NumPy的mean函数直接计算均值（向量化操作） - centroid = np.mean(vertices_np, axis=0) - - return centroid - -def get_lowest_position_of_center_ext3(mesh_obj, obj_path, voxel_size = 3): - - best_angle_x, best_angle_y, best_angle_z, z_mean_min, pcd_transformed= get_lowest_position_of_center2(mesh_obj, obj_path, voxel_size) - - return best_angle_x, best_angle_y, best_angle_z, z_mean_min - - -def get_lowest_position_of_center_ext2(mesh_obj, obj_path, total_matrix, voxel_size): - - # total_matrix, z_mean_min = get_lowest_position_of_center(obj_path, total_matrix, voxel_size) - temp_matrix, z_mean_min = get_lowest_position_of_center(mesh_obj, obj_path, np.eye(4), voxel_size) - # print("temp_matrix=",temp_matrix,voxel_size,mesh_obj) - - total_matrix = temp_matrix @ total_matrix - - return total_matrix, z_mean_min - -def get_lowest_position_of_center_ext(obj_path, total_matrix): - - temp_matrix, z_max = get_lowest_position_of_z_out(obj_path) - - total_matrix = temp_matrix @ total_matrix - - return total_matrix, z_max - -def down_sample(pcd, voxel_size, farthest_sample = False): - original_num = len(pcd.points) - target_samples = 1500 # 1000 - num_samples = min(target_samples, original_num) - - # 第一步：使用体素下采样快速减少点数量 - # voxel_size = 3 - if farthest_sample: - pcd_voxel = pcd.farthest_point_down_sample(num_samples=num_samples) - else: - pcd_voxel = pcd.voxel_down_sample(voxel_size) - down_num = len(pcd_voxel.points) - # print(f"original_num={original_num}, down_num={down_num}") - - # 第二步：仅在必要时进行最远点下采样 - if len(pcd_voxel.points) > target_samples and False: - pcd_downsampled = pcd_voxel.farthest_point_down_sample(num_samples=num_samples) - else: - pcd_downsampled = pcd_voxel - - return pcd_downsampled - -def get_lowest_position_of_center(mesh_obj, obj_path, total_matrix, voxel_size): - - # print(f"obj_path={obj_path}, get_lowest_position_of_center voxel_size={voxel_size}") - start_time1 = time.time() - - vertices = np.asarray(mesh_obj.vertices) - - # 确保网格有顶点 - if len(vertices) == 0: - # raise ValueError(f"Mesh has no vertices: {obj_path}") - print(f"Warning: Mesh has no vertices: {mesh_obj}") - return None - - pcd = o3d.geometry.PointCloud() - pcd.points = o3d.utility.Vector3dVector(vertices) - - # print("voxel_size",voxel_size,obj_path, len(pcd.points), len(mesh_obj.vertices)) - - # 对点云进行下采样（体素网格法） - #""" - pcd_downsampled = down_sample(pcd, voxel_size) - pcd_downsampled.paint_uniform_color([0, 0, 1]) - - if len(np.asarray(pcd_downsampled.points)) <= 0: - bbox = pcd.get_axis_aligned_bounding_box() - volume = bbox.volume() - - # print(f"len(pcd.points)={len(pcd.points)}, volume={volume}") - - # 处理体积为零的情况 - if volume <= 0: - # 计算点云的实际范围 - points = np.asarray(pcd.points) - if len(points) > 0: - min_bound = np.min(points, axis=0) - max_bound = np.max(points, axis=0) - extent = max_bound - min_bound - - # 确保最小维度至少为0.01 - min_dimension = max(0.01, np.min(extent)) - volume = min_dimension ** 3 - else: - volume = 1.0 # 最后的安全回退 - - print(f"Warning: Zero volume detected, using approximated volume {volume:.6f} for {obj_path}") - - # 安全计算密度 - 防止除零错误 - if len(pcd.points) > 0 and volume > 0: - original_density = len(pcd.points) / volume - voxel_size = max(0.01, min(10.0, 0.5 / (max(1e-6, original_density) ** 0.33))) - else: - # 当点数为0或体积为0时使用默认体素大小 - voxel_size = 1.0 # 默认值 - - print(f"Recalculated voxel_size: {voxel_size} for {obj_path}") - - pcd_downsampled = down_sample(pcd, voxel_size) - pcd_downsampled.paint_uniform_color([0, 0, 1]) - - original_num = len(pcd.points) - target_samples = 1000 - num_samples = min(target_samples, original_num) - - # print("get_lowest_position_of_center1 time", time.time()-start_time1) - start_time2 = time.time() - # 确保下采样后有点云 - if len(np.asarray(pcd_downsampled.points)) == 0: - # 使用原始点云作为后备 - pcd_downsampled = pcd - print(f"Warning: Using original point cloud for {obj_path} as downsampling produced no points") - - points = np.asarray(pcd_downsampled.points) - - # 初始化最小重心Y的值 - min_center_of_mass_y = float('inf') - best_angle_x, best_angle_y, best_angle_z = 0, 0, 0 - best_angle_x, best_angle_y, best_angle_z, min_center_of_mass_y = parallel_rotation4(points, angle_step=3) - - # 使用最佳角度进行旋转并平移obj - pcd_transformed = copy.deepcopy(mesh_obj) - - - # 最佳角度旋转 - R_x = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([1, 0, 0]) * np.radians(best_angle_x)) - pcd_transformed.rotate(R_x) - R_y = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 1, 0]) * np.radians(best_angle_y)) - pcd_transformed.rotate(R_y) - R_z = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 0, 1]) * np.radians(best_angle_z)) - pcd_transformed.rotate(R_z) - - T_x = np.eye(4) - T_x[:3, :3] = R_x - center_point = compute_mesh_center(mesh_obj.vertices) - T_center_to_origin = np.eye(4) - T_center_to_origin[:3, 3] = -center_point - T_origin_to_center = np.eye(4) - T_origin_to_center[:3, 3] = center_point - T_rot_center = T_origin_to_center @ T_x @ T_center_to_origin - total_matrix = T_rot_center @ total_matrix - - T_y = np.eye(4) - T_y[:3, :3] = R_y - center_point = compute_mesh_center(mesh_obj.vertices) - T_center_to_origin = np.eye(4) - T_center_to_origin[:3, 3] = -center_point - T_origin_to_center = np.eye(4) - T_origin_to_center[:3, 3] = center_point - T_rot_center = T_origin_to_center @ T_y @ T_center_to_origin - total_matrix = T_rot_center @ total_matrix - - T_z = np.eye(4) - T_z[:3, :3] = R_z - center_point = compute_mesh_center(mesh_obj.vertices) - T_center_to_origin = np.eye(4) - T_center_to_origin[:3, 3] = -center_point - T_origin_to_center = np.eye(4) - T_origin_to_center[:3, 3] = center_point - T_rot_center = T_origin_to_center @ T_z @ T_center_to_origin - total_matrix = T_rot_center @ total_matrix - - #试着旋转180，让脸朝上 - - vertices = np.asarray(pcd_transformed.vertices) - # 计算平移向量，将最小Y值平移到0 - min_z = np.min(vertices[:, 2]) - translation_vector = np.array([0,0,-min_z,]) - pcd_transformed.translate(translation_vector) - - T_trans1 = np.eye(4) - T_trans1[:3, 3] = translation_vector - total_matrix = T_trans1 @ total_matrix - - # 计算 z 坐标均值 - vertices = np.asarray(pcd_transformed.vertices) - z_mean1 = np.mean(vertices[:, 2]) - z_max1 = np.max(vertices[:, 2]) - - angle_rad = np.pi - #print("旋转前质心:", pcd_transformed.get_center()) - #print("旋转前点示例:", np.asarray(pcd_transformed.vertices)[:3]) - R_y = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 1, 0]) * angle_rad) - centroid = pcd_transformed.get_center() - pcd_transformed.translate(-center_point) - pcd_transformed.rotate(R_y, center=(0, 0, 0)) - pcd_transformed.translate(center_point) - - aabb = pcd_transformed.get_axis_aligned_bounding_box() - # center_point = aabb.get_center() - center_point = compute_mesh_center(mesh_obj.vertices) - # 构建绕中心点旋转的变换矩阵[3](@ref) - T_center_to_origin = np.eye(4) - T_center_to_origin[:3, 3] = -center_point - R_y180 = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 1, 0]) * angle_rad) - T_rotate = np.eye(4) - T_rotate[:3, :3] = R_y180 - T_origin_to_center = np.eye(4) - T_origin_to_center[:3, 3] = center_point - T_rot_center = T_origin_to_center @ T_rotate @ T_center_to_origin - total_matrix = T_rot_center @ total_matrix - - #print("旋转后质心:", pcd_transformed.get_center()) - #print("旋转后点示例:", np.asarray(pcd_transformed.vertices)[:3]) - - # - vertices = np.asarray(pcd_transformed.vertices) - # 计算平移向量，将最小Y值平移到0 - min_z = np.min(vertices[:, 2]) - max_z = np.max(vertices[:, 2]) - # print("min_z1", min_z, obj_path) - translation_vector = np.array([0,0,-min_z,]) - # translation_vector = np.array([0,0,-min_z + (min_z-max_z),]) - # print("translation_vector1",translation_vector) - pcd_transformed.translate(translation_vector) - - T_trans2 = np.eye(4) - T_trans2[:3, 3] = translation_vector - translation = total_matrix[:3, 3] - # print("translation_vector2",translation_vector) - # print(1,translation) - - total_matrix = T_trans2 @ total_matrix - translation = total_matrix[:3, 3] - # print(2,translation) - - # 计算 z 坐标均值 - vertices = np.asarray(pcd_transformed.vertices) - z_mean2 = np.mean(vertices[:, 2]) - z_max2 = np.max(vertices[:, 2]) - - # print(f"get_lowest_position_of_center z_max1={z_max1}, z_max2={z_max2}, len={len(pcd_transformed.vertices)}, obj_path={obj_path}") - - if (z_mean2 > z_mean1): - # if (z_max2 > z_max1): - R_y = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 1, 0]) * -angle_rad) - centroid = pcd_transformed.get_center() - - aabb = pcd_transformed.get_axis_aligned_bounding_box() - # center_point = aabb.get_center() - center_point = compute_mesh_center(mesh_obj.vertices) - - pcd_transformed.translate(-center_point) - pcd_transformed.rotate(R_y, center=(0, 0, 0)) - pcd_transformed.translate(center_point) - - T_center_to_origin = np.eye(4) - T_center_to_origin[:3, 3] = -center_point - T_origin_to_center = np.eye(4) - T_origin_to_center[:3, 3] = center_point - # 构建反向旋转矩阵 - R_y = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 1, 0]) * -angle_rad) - T_rotate_inv = np.eye(4) - T_rotate_inv[:3, :3] = R_y - # 完整的反向绕中心旋转矩阵 - T_rot_center_inv = T_origin_to_center @ T_rotate_inv @ T_center_to_origin - total_matrix = T_rot_center_inv @ total_matrix - - vertices = np.asarray(pcd_transformed.vertices) - # 计算平移向量，将最小Y值平移到0 - min_z = np.min(vertices[:, 2]) - # print("min_z2", min_z, obj_path) - translation_vector = np.array([0,0,-min_z,]) - pcd_transformed.translate(translation_vector) - - T_trans3 = np.eye(4) - T_trans3[:3, 3] = translation_vector - total_matrix = T_trans3 @ total_matrix - - # z_mean_min = min(z_mean1, z_mean2) - z_max_min = min(z_max1, z_max2) - - # print("get_lowest_position_of_center2 time", time.time()-start_time2) - return total_matrix, z_max_min - -import requests -import json -import re - -def is_valid_float_string(s): - # 匹配科学计数法或普通小数，允许开头和末尾的空格 - pattern = r'^[-+]?[0-9]*\.?[0-9]+([eE][-+]?[0-9]+)?$' - return bool(re.match(pattern, s.strip())) - -def safe_convert_to_float(s): - """ - 尝试将字符串安全转换为float，处理一些不完整情况。 - """ - s = s.strip().lower() # 去除空格，统一为小写 - - # 处理空字符串或完全非数字的情况 - if not s or s in ['na', 'nan', 'inf', 'null', 'none']: - return None # 或者可以根据需要返回 float('nan') - - # 检查是否为有效的浮点数字符串 - if is_valid_float_string(s): - return float(s) - - # 处理类似 '0.00000000e' 的情况（缺少指数） - if s.endswith('e'): - # 尝试添加指数 '0' -> 'e0' - try: - return float(s + '0') - except ValueError: - pass # 如果添加'e0'后仍然失败，则继续下面的异常处理 - - # 更激进的清理：移除非数字、小数点、负号和指数e以外的所有字符 - # 注意：这可能破坏有特定格式的字符串，慎用 - cleaned_s = re.sub(r'[^\d\.eE-]', '', s) - try: - return float(cleaned_s) - except ValueError: - pass - - # 如果所有尝试都失败，返回None或抛出异常 - return None - -def string_to_matrix(data_string): - """ - 将字符串转换为NumPy浮点数矩阵，并处理可能的转换错误。 - """ - # 分割字符串 - lines = data_string.strip().split(';') - matrix = [] - - for line in lines: - num_list = line.split() - float_row = [] - for num in num_list: - # 使用安全转换函数 - value = safe_convert_to_float(num) - if value is None: - # 处理转换失败，例如记录日志、使用NaN代替 - print(f"警告: 无法转换字符串 '{num}'，将其替换为NaN。") - value = np.nan # 用NaN标记缺失或无效值 - float_row.append(value) - matrix.append(float_row) - - return np.array(matrix) - -import ast - -def get_lowest_position_of_center_net(printId, total_matrix): - print("get_lowest_position_of_center_net", printId) - - url = f"https://mp.api.suwa3d.com/api/printOrder/infoByPrintId?printId={printId}" - res = requests.get(url) - - datas = res.json()["data"]["layout"] - print("datas=", datas) - - homo_matrix_str = datas.get("homo_matrix") - print("homo_matrix_str=", homo_matrix_str) - - # 1. 去除字符串首尾的方括号 - str_cleaned = homo_matrix_str.strip('[]') - # 2. 按行分割字符串 - rows = str_cleaned.split('\n') - - # 3. 修复：处理每行中的逗号问题 - matrix_list = [] - for row in rows: - if row.strip() == '': - continue - - # 去除行首尾的方括号和空格 - row_cleaned = row.strip(' []') - # 按逗号分割，但过滤掉空字符串 - elements = [elem.strip() for elem in row_cleaned.split(',') if elem.strip() != ''] - - # 进一步清理每个元素：去除可能残留的逗号和方括号 - cleaned_elements = [] - for elem in elements: - # 去除元素中可能存在的逗号、方括号和空格 - elem_cleaned = elem.strip(' ,[]') - if elem_cleaned != '': - cleaned_elements.append(elem_cleaned) - - if cleaned_elements: # 只添加非空行 - matrix_list.append(cleaned_elements) - - print("matrix_list=", matrix_list) - - # 4. 安全地转换为浮点数数组（带错误处理） - try: - reconstructed_matrix = np.array(matrix_list, dtype=float) - except ValueError as e: - print(f"转换矩阵时出错: {e}") - print("尝试逐个元素转换...") - - # 逐个元素转换，便于定位问题元素 - float_matrix = [] - for i, row in enumerate(matrix_list): - float_row = [] - for j, elem in enumerate(row): - try: - # 再次清理元素并转换 - cleaned_elem = elem.strip(' ,') - float_val = float(cleaned_elem) - float_row.append(float_val) - except ValueError as ve: - print(f"无法转换的元素: 行{i}, 列{j}, 值'{elem}', 错误: {ve}") - # 可以选择设置为0或NaN，或者抛出异常 - float_row.append(0.0) # 或者 np.nan - float_matrix.append(float_row) - - reconstructed_matrix = np.array(float_matrix, dtype=float) - - layout_z = datas.get("layout_z", 0) - print("layout_z", layout_z) - - reconstructed_matrix = reconstructed_matrix @ total_matrix - print("reconstructed_matrix=", reconstructed_matrix) - - return reconstructed_matrix, layout_z - -def get_lowest_position_of_center2(mesh_obj, obj_path, voxel_size = 3): - - # mesh_obj = read_mesh(obj_path) - - vertices = np.asarray(mesh_obj.vertices) - - # 确保网格有顶点 - if len(vertices) == 0: - print(f"Warning: Mesh has no vertices: {obj_path}") - return None - - pcd = o3d.geometry.PointCloud() - pcd.points = o3d.utility.Vector3dVector(vertices) - - # 对点云进行下采样（体素网格法 - pcd_downsampled = down_sample(pcd, voxel_size) - pcd_downsampled.paint_uniform_color([0, 0, 1]) - - if len(np.asarray(pcd_downsampled.points)) <= 0: - bbox = pcd.get_axis_aligned_bounding_box() - volume = bbox.volume() - - # print(f"len(pcd.points)={len(pcd.points)}, volume={volume}") - - # 处理体积为零的情况 - if volume <= 0: - # 计算点云的实际范围 - points = np.asarray(pcd.points) - if len(points) > 0: - min_bound = np.min(points, axis=0) - max_bound = np.max(points, axis=0) - extent = max_bound - min_bound - - # 确保最小维度至少为0.01 - min_dimension = max(0.01, np.min(extent)) - volume = min_dimension ** 3 - else: - volume = 1.0 # 最后的安全回退 - - print(f"Warning: Zero volume detected, using approximated volume {volume:.6f} for {obj_path}") - - # 安全计算密度 - 防止除零错误 - if len(pcd.points) > 0 and volume > 0: - original_density = len(pcd.points) / volume - voxel_size = max(0.01, min(10.0, 0.5 / (max(1e-6, original_density) ** 0.33))) - else: - # 当点数为0或体积为0时使用默认体素大小 - voxel_size = 1.0 # 默认值 - - print(f"Recalculated voxel_size: {voxel_size} for {obj_path}") - - pcd_downsampled = down_sample(pcd, voxel_size) - pcd_downsampled.paint_uniform_color([0, 0, 1]) - - # 确保下采样后有点云 - if len(np.asarray(pcd_downsampled.points)) == 0: - # 使用原始点云作为后备 - pcd_downsampled = pcd - print(f"Warning: Using original point cloud for {obj_path} as downsampling produced no points") - - points = np.asarray(pcd_downsampled.points) - - # 初始化最小重心Y的值 - best_angle_x, best_angle_y, best_angle_z = 0, 0, 0 - # 旋转并计算最优角度：绕X、Y、Z轴进行每度的旋转 - best_angle_x, best_angle_y, best_angle_z, min_center_of_mass_y = parallel_rotation4(points, angle_step=3) - # print("best_angle1", best_angle_x, best_angle_y, best_angle_z) - - # 使用最佳角度进行旋转并平移obj - pcd_transformed = copy.deepcopy(mesh_obj) - - # 最佳角度旋转 - """ - R_x = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([1, 0, 0]) * np.radians(best_angle_x)) - pcd_transformed.rotate(R_x) - R_y = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 1, 0]) * np.radians(best_angle_y)) - pcd_transformed.rotate(R_y) - R_z = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 0, 1]) * np.radians(best_angle_z)) - pcd_transformed.rotate(R_z) - #""" - - aabb = pcd_transformed.get_axis_aligned_bounding_box() - center_point = aabb.get_center() - - vertices = np.asarray(pcd_transformed.vertices) - # 计算平移向量，将最小Y值平移到0 - min_z = np.min(vertices[:, 2]) - translation_vector = np.array([0,0,-min_z,]) - pcd_transformed.translate(translation_vector) - - # 计算 z 坐标均值 - vertices = np.asarray(pcd_transformed.vertices) - z_mean1 = np.mean(vertices[:, 2]) - - angle_rad = np.pi - - R_y = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 1, 0]) * angle_rad) - - pcd_transformed.translate(-center_point) - pcd_transformed.rotate(R_y, center=(0, 0, 0)) - pcd_transformed.translate(center_point) - best_angle_y += angle_rad / np.pi * 180 - - vertices = np.asarray(pcd_transformed.vertices) - # 计算平移向量，将最小Y值平移到0 - min_z = np.min(vertices[:, 2]) - translation_vector = np.array([0,0,-min_z,]) - pcd_transformed.translate(translation_vector) - - # 计算 z 坐标均值 - vertices = np.asarray(pcd_transformed.vertices) - z_mean2 = np.mean(vertices[:, 2]) - - # print("z_mean",z_mean1,z_mean2,len(pcd_transformed.vertices),obj_path) - - if z_mean2 > z_mean1: - R_y = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 1, 0]) * -angle_rad) - - aabb = pcd_transformed.get_axis_aligned_bounding_box() - center_point = aabb.get_center() - - pcd_transformed.translate(-center_point) - pcd_transformed.rotate(R_y, center=(0, 0, 0)) - pcd_transformed.translate(center_point) - best_angle_y += -angle_rad / np.pi * 180 - - vertices = np.asarray(pcd_transformed.vertices) - # 计算平移向量，将最小Y值平移到0 - min_z = np.min(vertices[:, 2]) - translation_vector = np.array([0,0,-min_z,]) - pcd_transformed.translate(translation_vector) - - z_mean_min = min(z_mean1, z_mean2) - - angle_z_delta = arrange_box_correctly(pcd_transformed, voxel_size) - best_angle_z += angle_z_delta - # print("angle_z_delta", angle_z_delta, best_angle_z) - - return best_angle_x, best_angle_y, best_angle_z, z_mean_min, pcd_transformed - -def arrange_box_correctly(obj_transformed, voxel_size): - - vertices = np.asarray(obj_transformed.vertices) - pcd = o3d.geometry.PointCloud() - pcd.points = o3d.utility.Vector3dVector(vertices) - - # 降采样与特征计算 - pcd_downsampled = down_sample(pcd, voxel_size) - - original_num = len(pcd.points) - target_samples = 1000 - num_samples = min(target_samples, original_num) - - points = np.asarray(pcd_downsampled.points) - cov = np.cov(points.T) - - center = obj_transformed.get_center() - - # 特征分解与方向约束（关键修改点） - eigen_vals, eigen_vecs = np.linalg.eigh(cov) - max_axis = eigen_vecs[:, np.argmax(eigen_vals)] - - # 强制主方向向量X分量为正（指向右侧） - if max_axis[0] < 0 or (max_axis[0] == 0 and max_axis[1] < 0): - max_axis = -max_axis - - target_dir = np.array([1, 0]) # 目标方向为X正轴 - current_dir = max_axis[:2] / np.linalg.norm(max_axis[:2]) - dot_product = np.dot(current_dir, target_dir) - - # print("dot_product", dot_product) - if dot_product < 0.8: # 阈值控制方向敏感性（建议0.6~0.9） - max_axis = -max_axis # 强制翻转方向 - - # 计算旋转角度 - angle_z = np.arctan2(max_axis[1], max_axis[0]) % (2 * np.pi) - - if max_axis[0] <= 0 and max_axis[1] <= 0: - angle_z += np.pi - - # print("max_axis2", max_axis, -angle_z, np.rad2deg(-angle_z)) - - R = o3d.geometry.get_rotation_matrix_from_axis_angle([0, 0, -angle_z]) - - T = np.eye(4) - T[:3, :3] = R - T[:3, 3] = center - R.dot(center) # 保持中心不变 - obj_transformed.transform(T) - - return np.rad2deg(-angle_z) diff --git a/get_lowest_position_of_z_out.py b/get_lowest_position_of_z_out.py deleted file mode 100644 index 3de702f..0000000 --- a/get_lowest_position_of_z_out.py +++ /dev/null @@ -1,352 +0,0 @@ -import open3d as o3d -import numpy as np -import copy -import time -import argparse - -""" -对外部提供的获取最低z的接口 -get_lowest_position_of_z_out - -参数: - obj_path, 模型数据路径 - -返回: - total_matrix: 旋转矩阵 - z_max: Z最高点 -""" - -def get_lowest_position_of_z_out(obj_path): - - mesh_obj = o3d.io.read_triangle_mesh(obj_path) - - total_matrix = np.eye(4) - - voxel_size = 3 - - # print(f"obj_path={obj_path}, get_lowest_position_of_center voxel_size={voxel_size}") - start_time1 = time.time() - - vertices = np.asarray(mesh_obj.vertices) - - # 确保网格有顶点 - if len(vertices) == 0: - # raise ValueError(f"Mesh has no vertices: {obj_path}") - print(f"Warning: Mesh has no vertices: {mesh_obj}") - return None - - pcd = o3d.geometry.PointCloud() - pcd.points = o3d.utility.Vector3dVector(vertices) - - # print("voxel_size",voxel_size,obj_path, len(pcd.points), len(mesh_obj.vertices)) - - # 对点云进行下采样（体素网格法） - #""" - pcd_downsampled = down_sample(pcd, voxel_size) - pcd_downsampled.paint_uniform_color([0, 0, 1]) - - if len(np.asarray(pcd_downsampled.points)) <= 0: - bbox = pcd.get_axis_aligned_bounding_box() - volume = bbox.volume() - - # print(f"len(pcd.points)={len(pcd.points)}, volume={volume}") - - # 处理体积为零的情况 - if volume <= 0: - # 计算点云的实际范围 - points = np.asarray(pcd.points) - if len(points) > 0: - min_bound = np.min(points, axis=0) - max_bound = np.max(points, axis=0) - extent = max_bound - min_bound - - # 确保最小维度至少为0.01 - min_dimension = max(0.01, np.min(extent)) - volume = min_dimension ** 3 - else: - volume = 1.0 # 最后的安全回退 - - print(f"Warning: Zero volume detected, using approximated volume {volume:.6f} for {obj_path}") - - # 安全计算密度 - 防止除零错误 - if len(pcd.points) > 0 and volume > 0: - original_density = len(pcd.points) / volume - voxel_size = max(0.01, min(10.0, 0.5 / (max(1e-6, original_density) ** 0.33))) - else: - # 当点数为0或体积为0时使用默认体素大小 - voxel_size = 1.0 # 默认值 - - print(f"Recalculated voxel_size: {voxel_size} for {obj_path}") - - pcd_downsampled = down_sample(pcd, voxel_size) - pcd_downsampled.paint_uniform_color([0, 0, 1]) - - original_num = len(pcd.points) - target_samples = 1000 - num_samples = min(target_samples, original_num) - - # print("get_lowest_position_of_center1 time", time.time()-start_time1) - start_time2 = time.time() - # 确保下采样后有点云 - if len(np.asarray(pcd_downsampled.points)) == 0: - # 使用原始点云作为后备 - pcd_downsampled = pcd - print(f"Warning: Using original point cloud for {obj_path} as downsampling produced no points") - - points = np.asarray(pcd_downsampled.points) - - # 初始化最小重心Y的值 - max_z_of_mass_y = float('inf') - best_angle_x, best_angle_y, best_angle_z = 0, 0, 0 - best_angle_x, best_angle_y, best_angle_z, max_z_of_mass_y = parallel_rotation(points, angle_step=3) - - # 使用最佳角度进行旋转并平移obj - pcd_transformed = copy.deepcopy(mesh_obj) - - # 最佳角度旋转 - R_x = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([1, 0, 0]) * np.radians(best_angle_x)) - pcd_transformed.rotate(R_x) - R_y = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 1, 0]) * np.radians(best_angle_y)) - pcd_transformed.rotate(R_y) - R_z = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 0, 1]) * np.radians(best_angle_z)) - pcd_transformed.rotate(R_z) - - T_x = np.eye(4) - T_x[:3, :3] = R_x - center_point = compute_mesh_center(mesh_obj.vertices) - T_center_to_origin = np.eye(4) - T_center_to_origin[:3, 3] = -center_point - T_origin_to_center = np.eye(4) - T_origin_to_center[:3, 3] = center_point - T_rot_center = T_origin_to_center @ T_x @ T_center_to_origin - total_matrix = T_rot_center @ total_matrix - - T_y = np.eye(4) - T_y[:3, :3] = R_y - center_point = compute_mesh_center(mesh_obj.vertices) - T_center_to_origin = np.eye(4) - T_center_to_origin[:3, 3] = -center_point - T_origin_to_center = np.eye(4) - T_origin_to_center[:3, 3] = center_point - T_rot_center = T_origin_to_center @ T_y @ T_center_to_origin - total_matrix = T_rot_center @ total_matrix - - T_z = np.eye(4) - T_z[:3, :3] = R_z - center_point = compute_mesh_center(mesh_obj.vertices) - T_center_to_origin = np.eye(4) - T_center_to_origin[:3, 3] = -center_point - T_origin_to_center = np.eye(4) - T_origin_to_center[:3, 3] = center_point - T_rot_center = T_origin_to_center @ T_z @ T_center_to_origin - total_matrix = T_rot_center @ total_matrix - - #试着旋转180，让脸朝上 - - vertices = np.asarray(pcd_transformed.vertices) - # 计算平移向量，将最小Y值平移到0 - min_z = np.min(vertices[:, 2]) - translation_vector = np.array([0,0,-min_z,]) - pcd_transformed.translate(translation_vector) - - T_trans1 = np.eye(4) - T_trans1[:3, 3] = translation_vector - total_matrix = T_trans1 @ total_matrix - - # 计算 z 坐标均值 - vertices = np.asarray(pcd_transformed.vertices) - z_mean1 = np.mean(vertices[:, 2]) - z_max1 = np.max(vertices[:, 2]) - - angle_rad = np.pi - #print("旋转前质心:", pcd_transformed.get_center()) - #print("旋转前点示例:", np.asarray(pcd_transformed.vertices)[:3]) - R_y = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 1, 0]) * angle_rad) - centroid = pcd_transformed.get_center() - pcd_transformed.translate(-center_point) - pcd_transformed.rotate(R_y, center=(0, 0, 0)) - pcd_transformed.translate(center_point) - - aabb = pcd_transformed.get_axis_aligned_bounding_box() - # center_point = aabb.get_center() - center_point = compute_mesh_center(mesh_obj.vertices) - # 构建绕中心点旋转的变换矩阵[3](@ref) - T_center_to_origin = np.eye(4) - T_center_to_origin[:3, 3] = -center_point - R_y180 = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 1, 0]) * angle_rad) - T_rotate = np.eye(4) - T_rotate[:3, :3] = R_y180 - T_origin_to_center = np.eye(4) - T_origin_to_center[:3, 3] = center_point - T_rot_center = T_origin_to_center @ T_rotate @ T_center_to_origin - total_matrix = T_rot_center @ total_matrix - - #print("旋转后质心:", pcd_transformed.get_center()) - #print("旋转后点示例:", np.asarray(pcd_transformed.vertices)[:3]) - - # - vertices = np.asarray(pcd_transformed.vertices) - # 计算平移向量，将最小Y值平移到0 - min_z = np.min(vertices[:, 2]) - max_z = np.max(vertices[:, 2]) - # print("min_z1", min_z, obj_path) - translation_vector = np.array([0,0,-min_z,]) - # translation_vector = np.array([0,0,-min_z + (min_z-max_z),]) - # print("translation_vector1",translation_vector) - pcd_transformed.translate(translation_vector) - - T_trans2 = np.eye(4) - T_trans2[:3, 3] = translation_vector - translation = total_matrix[:3, 3] - # print("translation_vector2",translation_vector) - # print(1,translation) - - total_matrix = T_trans2 @ total_matrix - translation = total_matrix[:3, 3] - # print(2,translation) - - # 计算 z 坐标均值 - vertices = np.asarray(pcd_transformed.vertices) - z_mean2 = np.mean(vertices[:, 2]) - z_max2 = np.max(vertices[:, 2]) - - # print(f"get_lowest_position_of_center z_max1={z_max1}, z_max2={z_max2}, len={len(pcd_transformed.vertices)}, obj_path={obj_path}") - - if (z_mean2 > z_mean1): - # if (z_max2 > z_max1): - R_y = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 1, 0]) * -angle_rad) - centroid = pcd_transformed.get_center() - - aabb = pcd_transformed.get_axis_aligned_bounding_box() - # center_point = aabb.get_center() - center_point = compute_mesh_center(mesh_obj.vertices) - - pcd_transformed.translate(-center_point) - pcd_transformed.rotate(R_y, center=(0, 0, 0)) - pcd_transformed.translate(center_point) - - T_center_to_origin = np.eye(4) - T_center_to_origin[:3, 3] = -center_point - T_origin_to_center = np.eye(4) - T_origin_to_center[:3, 3] = center_point - # 构建反向旋转矩阵 - R_y = pcd_transformed.get_rotation_matrix_from_axis_angle(np.array([0, 1, 0]) * -angle_rad) - T_rotate_inv = np.eye(4) - T_rotate_inv[:3, :3] = R_y - # 完整的反向绕中心旋转矩阵 - T_rot_center_inv = T_origin_to_center @ T_rotate_inv @ T_center_to_origin - total_matrix = T_rot_center_inv @ total_matrix - - vertices = np.asarray(pcd_transformed.vertices) - # 计算平移向量，将最小Y值平移到0 - min_z = np.min(vertices[:, 2]) - # print("min_z2", min_z, obj_path) - translation_vector = np.array([0,0,-min_z,]) - pcd_transformed.translate(translation_vector) - - T_trans3 = np.eye(4) - T_trans3[:3, 3] = translation_vector - total_matrix = T_trans3 @ total_matrix - - # z_mean_min = min(z_mean1, z_mean2) - z_max = min(z_max1, z_max2) - - # print("get_lowest_position_of_center2 time", time.time()-start_time2) - return total_matrix, z_max - -def calculate_rotation_and_top_of_mass(angle_x, angle_y, angle_z, points): - """计算某一组旋转角度后的重心""" - # 计算绕X轴、Y轴和Z轴的旋转矩阵 - R_x = np.array([ - [1, 0, 0], - [0, np.cos(np.radians(angle_x)), -np.sin(np.radians(angle_x))], - [0, np.sin(np.radians(angle_x)), np.cos(np.radians(angle_x))] - ]) - - R_y = np.array([ - [np.cos(np.radians(angle_y)), 0, np.sin(np.radians(angle_y))], - [0, 1, 0], - [-np.sin(np.radians(angle_y)), 0, np.cos(np.radians(angle_y))] - ]) - - R_z = np.array([ - [np.cos(np.radians(angle_z)), -np.sin(np.radians(angle_z)), 0], - [np.sin(np.radians(angle_z)), np.cos(np.radians(angle_z)), 0], - [0, 0, 1] - ]) - - # 综合旋转矩阵 - R = R_z @ R_y @ R_x - - # 执行旋转 - rotated_points = points @ R.T - - # 计算最小z值 - min_z = np.min(rotated_points[:, 2]) - - # 计算平移向量，将最小Z值平移到0 - translation_vector = np.array([0, 0, -min_z]) - rotated_points += translation_vector - - top_of_mass = np.max(rotated_points, axis=0) - - return top_of_mass[2], angle_x, angle_y, angle_z - -def parallel_rotation(points, angle_step=4): - """仅绕 Y 轴旋转（假设 X/Z 轴不影响目标函数）""" - max_top = float('inf') - - for angle_x in range(-90, 90, angle_step): - for angle_y in range(0, 360, angle_step): - max_z, ax, ay, _ = calculate_rotation_and_top_of_mass(angle_x, angle_y, 0, points) - if max_z < max_top: - max_top = max_z - best_angle_x = ax - best_angle_y = ay - - return (best_angle_x, best_angle_y, 0, max_top) - -def compute_mesh_center(vertices): - - if len(vertices) == 0: - raise ValueError("顶点数组不能为空") - - # 确保vertices是NumPy数组 - vertices_np = np.asarray(vertices) - - # 使用NumPy的mean函数直接计算均值（向量化操作） - centroid = np.mean(vertices_np, axis=0) - - return centroid - -def down_sample(pcd, voxel_size, farthest_sample = False): - original_num = len(pcd.points) - target_samples = 1500 # 1000 - num_samples = min(target_samples, original_num) - - # 第一步：使用体素下采样快速减少点数量 - # voxel_size = 3 - if farthest_sample: - pcd_voxel = pcd.farthest_point_down_sample(num_samples=num_samples) - else: - pcd_voxel = pcd.voxel_down_sample(voxel_size) - down_num = len(pcd_voxel.points) - # print(f"original_num={original_num}, down_num={down_num}") - - # 第二步：仅在必要时进行最远点下采样 - if len(pcd_voxel.points) > target_samples and False: - pcd_downsampled = pcd_voxel.farthest_point_down_sample(num_samples=num_samples) - else: - pcd_downsampled = pcd_voxel - - return pcd_downsampled - -if __name__ == '__main__': - - parser = argparse.ArgumentParser() - parser.add_argument("--obj_path", type=str, required=True, help="batchobj_path_id") - args = parser.parse_args() - - obj_path = args.obj_path - max, z = get_lowest_position_of_z_out(obj_path) - diff --git a/grid_near_three.py b/grid_near_three.py deleted file mode 100644 index 9838f30..0000000 --- a/grid_near_three.py +++ /dev/null @@ -1,179 +0,0 @@ -import os -import time - -import open3d as o3d -import numpy as np - - - -def make_near_dict(base_dir,compact_dir): - """""" - - # 用于存储结果的字典 - results = {} - # 遍历目录中的所有 .ply 文件 - for ply_file in os.listdir(base_dir): - # 检查文件是否为 .ply 格式 - if ply_file.endswith('.ply'): - ply_path = os.path.join(base_dir, ply_file) - compact_ply_path = os.path.join(compact_dir, ply_file) - if os.path.exists(compact_ply_path): - ply_read_path = compact_ply_path - else: - ply_read_path = ply_path - # 读取点云 - pcd = o3d.io.read_point_cloud(ply_read_path) - - # 获取点云的点数据 - points = np.asarray(pcd.points) - - # 计算质心 - centroid = np.mean(points, axis=0) - - # 计算 Y 轴最小值 - min_y_value = np.min(points[:, 1]) # Y 轴最小值 - max_y_value = np.max(points[:, 1]) - - # 计算 X 轴最小值 - min_x_value = np.min(points[:, 0]) # X 轴最小值 - max_x_value = np.max(points[:, 0]) # X 轴最小值 - #ply_pid = ply_file.split("_")[0] - # 将结果存入字典 - results[ply_file] = { - "centroid": centroid, - "min_x_value": min_x_value, - "min_y_value": min_y_value, - "max_x_value": max_x_value, - "max_y_value": max_y_value, - - } - - # 打印结果 - # for ply_file, values in results.items(): - # print(f"文件: {ply_file}") - # print(f" 质心: {values['centroid']}") - # print(f" X 轴最小值: {values['min_x_value']}") - # print(f" Y 轴最小值: {values['min_y_value']}") - - # 计算每个ply需要触碰检测的 - check_touch_dict = {} - for ply_file in results.keys(): - print(ply_file) - #ply_pid = ply_file.split("_")[0] - #print(ply_pid) - bounds_min_x = results[ply_file]["min_x_value"] - bounds_min_y = results[ply_file]["min_y_value"] - #bounds_center = results[ply_file]["centroid"] - need_check_list = [] - need_values_dict = {} - for ply_file_near in results.keys(): - #print(ply_file_near) - if ply_file!= ply_file_near: - bounds_max_x = results[ply_file_near]["max_x_value"] - bounds_max_y = results[ply_file_near]["max_y_value"] - # if ply_file == "151140_9cm_x1=30.578+41.705+90.753.ply": - # print("-"*50) - # print("主：：",ply_file) - # print("从：：",ply_file_near) - # print(f"center_x{bounds_center[0]}") - # print(f"center_y{bounds_center[1]}") - # print(f"bounds_max_x{bounds_max_x}") - # print(f"bounds_max_y{bounds_max_y}") - # time.sleep(3) - # 235605_12cm_x1=33.774+30.837+120.344.ply - # if bounds_center[0]bounds_min_x and bounds_near_center[1]>bounds_min_y: - #print("-"*50) - # print(f"bounds_min_x{bounds_min_x}") - # print(f"bounds_max_x{bounds_max_x}") - - x_dis = bounds_min_x - bounds_max_x - y_dis = bounds_min_y - bounds_max_y - #print(f"x_dis=={x_dis}") - #print(f"y_dis=={y_dis}") - #if ply_file=="158040_15cm_x1=80.682+89.345+152.468.ply": - #if ply_file == "235547_4.8cm_x1=29.339+39.528+57.63.ply": - # print("主：：",ply_file) - # print("从：：",ply_file_near) - #if ply_file == "158040_15cm_x1=80.682+89.345+152.468.ply": - #if ply_file == "151140_9cm_x1=30.578+41.705+90.753.ply": - # print("主：：", ply_file) - # print("临近：：", ply_file_near) - # time.sleep(3) - if x_dis<-10 and y_dis<-10: - need_check_list.append(ply_file_near) - need_values_dict["need_check_list"] = need_check_list - # need_values_dict["max_x_value"] = bounds_max_x - # need_values_dict["max_y_value"] = bounds_max_y - - check_touch_dict[ply_file] = need_values_dict - - - # print(check_touch_dict) - # print("开始要计算触碰检测的数据") - # for ply_file, values in check_touch_dict.items(): - # print("*"*50) - # print(ply_file) - # print(values) - - # 去掉离比较远的数据 - for check_touch_key,check_touch_values in check_touch_dict.items(): - print("-"*50) - #print(check_touch_key) - #print(check_touch_values["need_check_list"]) - need_check_list= check_touch_values["need_check_list"] - #print(len(need_check_list)) - if len(need_check_list)>2: - ply_A_path = os.path.join(base_dir, check_touch_key) - compact_ply_path = os.path.join(compact_dir, check_touch_key) - if os.path.exists(compact_ply_path): - ply_read_path = compact_ply_path - else: - ply_read_path = ply_A_path - pcd_A = o3d.io.read_point_cloud(ply_read_path) - points_A = np.asarray(pcd_A.points) - distances = [] - for i, check_touch in enumerate(need_check_list): - point = results[check_touch]['centroid'] - ply_path = os.path.join(base_dir, check_touch) - - # 读取当前点云 - pcd = o3d.io.read_point_cloud(ply_path) - points = np.asarray(pcd.points) - - # 计算点云之间最小点对距离（brute-force） - diff = points_A[:, np.newaxis, :] - points[np.newaxis, :, :] # (N, M, 3) - dists = np.linalg.norm(diff, axis=2) # (N, M) - min_distance = np.min(dists) - - #print(f"check_touch: {check_touch}, centroid: {point}, min_distance: {min_distance:.4f}") - distances.append((i, point, min_distance, check_touch)) - distances.sort(key=lambda x: x[2]) - - # 提取最近的 3 个点 - nearest_points = distances[:5] - last_elements = [item[-1] for item in nearest_points] - # print(f"nearest_points---------{nearest_points}") - # print(f"check_touch_key--------{check_touch_key}") - # print(f"last_elements--------{last_elements}") - check_touch_dict[check_touch_key]["need_check_list"] = last_elements - - return check_touch_dict - - # for check_touch_key,check_touch_values in check_touch_dict.items(): - # print("*"*50) - # print(check_touch_key) - # print(check_touch_values) - - -if __name__ == '__main__': - bounds_fix_out_dir = "/data/datasets_20t/type_setting_test_data/print_bounds_fix_data/" - check_touch_dict=make_near_dict(bounds_fix_out_dir) - print(f"check_touch_dict--------------{check_touch_dict}") - """ - {'need_check_list': ['131508_18cm_x1=51.412+87.921+181.446.ply', '239617_12cm_x1=43.987+54.233+120.691.ply']}, - """ - diff --git a/output.log b/output.log new file mode 100644 index 0000000..4d372c9 --- /dev/null +++ b/output.log @@ -0,0 +1,295 @@ +is_run_local_data=True +pre_batch_id=991112 +print_ids=[85240, 88136] +---------------------------------------- +---------------------------------------- +路径 /home/algo/Documents/print_factory_type/data/ 不是一个有效目录。 +目录 /home/algo/Documents/print_factory_type/full/ 下的内容已清空。 +从文件读取了 2 个path +开始下载print_model_info: BatchModelInfo(order_id=875986, pid=305425, print_order_id=88136, model_size='9cm_x1', path='objs/download/print/305425/base/model/9cm', count=1) +target_dir= /home/algo/Documents/print_factory_type/data/991112 +前缀 'objs/download/print/305425/base/model/9cm/' 存在，共找到 6 个对象。 +已更新材质库引用: 305425Tex1.jpg -> 875986_305425Tex1.jpg +下载文件: objs/download/print/305425/base/model/9cm/305425.mtl -> /home/algo/Documents/print_factory_type/data/991112/875986_305425.mtl +下载文件: objs/download/print/305425/base/model/9cm/305425.obj -> /home/algo/Documents/print_factory_type/data/991112/875986_305425_P88136_9cm_x1.obj +下载文件: objs/download/print/305425/base/model/9cm/305425Tex1.jpg -> /home/algo/Documents/print_factory_type/data/991112/875986_305425Tex1.jpg +下载文件: objs/download/print/305425/base/model/9cm/blend/305425_org.blend -> /home/algo/Documents/print_factory_type/data/991112/blend/305425_org.blend +下载 in obj_key +下载 in obj_key +开始下载print_model_info: BatchModelInfo(order_id=857420, pid=268473, print_order_id=85240, model_size='5cm_x1', path='objs/download/print/268473/base_cartoon/badge/1/5cm', count=1) +target_dir= /home/algo/Documents/print_factory_type/data/991112 +前缀 'objs/download/print/268473/base_cartoon/badge/1/5cm/' 存在，共找到 4 个对象。 +已更新材质库引用: 268473Tex1.jpg -> 857420_268473Tex1.jpg +下载文件: objs/download/print/268473/base_cartoon/badge/1/5cm/268473.mtl -> /home/algo/Documents/print_factory_type/data/991112/857420_268473.mtl +下载文件: objs/download/print/268473/base_cartoon/badge/1/5cm/268473.obj -> /home/algo/Documents/print_factory_type/data/991112/857420_268473_P85240_5cm_x1.obj +下载文件: objs/download/print/268473/base_cartoon/badge/1/5cm/268473Tex1.jpg -> /home/algo/Documents/print_factory_type/data/991112/857420_268473Tex1.jpg +下载 in obj_key +下载耗时：5.1790547370910645 +selected_machine 小机型 selected_mode 紧凑 output_format JSON +make_bbox_for_print total_time=5.503540992736816 +z_volume_center1=3.494785873362541, z_volume_center2=4.630428442012234 +compute_bbox 857420_268473_P85240_5cm_x1.obj time=2.4211812019348145 +z_volume_center1=7.4748487042688625, z_volume_center2=8.653334486695568 +compute_bbox 875986_305425_P88136_9cm_x1.obj time=2.196851968765259 +all_models [{'name': '857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply', 'dimensions': (50, 50, 9)}, {'name': '875986_305425_P88136_9cm_x1=19.759+25.308+90.184.ply', 'dimensions': (90, 25, 19)}] +开始计算排序... +开始计算排序... +⚠️ 单层放置模式：所有模型只能放在平台底面（Z=0） +arrange_models 875986_305425_P88136_9cm_x1=19.759+25.308+90.184.ply +pre_name1=875986_305425_P88136_9cm, pre_name2= +First Model 875986_305425_P88136_9cm_x1=19.759+25.308+90.184.ply +model position1 875986_305425_P88136_9cm_x1=19.759+25.308+90.184.ply (96, 339, 0) +arrange_models 857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply +pre_name1=857420_268473_P85240_5cm, pre_name2= +857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply px 150 96 90 +final_y2 857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply 56 345 50 6 150 +can_place False 1 cross_border 150, 340, 0, {'name': '857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply', 'dimensions': (50, 50, 9), 'first_line': True}, 380, 345, 250 +model position2 857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply (150, 339, 0) +Placed Models: + - 875986_305425_P88136_9cm_x1=19.759+25.308+90.184.ply at (96, 339, 0) with dimensions (90, 25, 19) + - 857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply at (150, 339, 0) with dimensions (50, 50, 9) +Unplaced Models: + - 875986_305425_P88136_9cm_x1=19.759+25.308+90.184.ply at (96, 339, 0) with dimensions (90, 25, 19) + - 857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply at (150, 339, 0) with dimensions (50, 50, 9) +pcd_second : len(pcd_first)=2, len(pcd_second)=0, len(last_pcd_processed)=2, len(pcd_all)=2 +is_test= True +need_upload_result=False +3D打印布局已保存至: /home/algo/Documents/print_factory_type/data/991112/991112.json +排版错误模型数量：：0 +排版剩余模型数量：：0 +排版完成 +排版总耗时：：0 分 / 16.58465886116028 秒 +计算重心：：0 分 / 16.583354234695435 秒 +排包围盒：：0 分 / 0.0005736351013183594 秒 +挪紧凑：：0 分 / 8.440017700195312e-05 秒 +移动到位置：：0 分 / 0.0006456375122070312 秒 +选择机型=小机型 +已加载并变换: 857420_268473_P85240_5cm_x1.obj +已加载并变换: 875986_305425_P88136_9cm_x1.obj +add_plank /home/algo/Documents/print_factory_type/blank/blank_bias/blank_small.obj +成功加载并变换了 3 个模型 +高级渲染图片已保存到: /home/algo/Documents/print_factory_type/data/991112/991112.jpg +保存截图耗时：：0 分 / 6.980211019515991 秒 +执行上 传-parent_dir=/home/algo/Documents/print_factory_type,base_original_obj_dir=/home/algo/Documents/print_factory_type/data/991112,batch_id=991112 +is_use_debug_oss=True +target_dir=/home/algo/Documents/print_factory_type/data/991112, batch_id=991112 +文件已上传到: batchPrint/debug_hsc/991112/991112.json +文件已上传到: batchPrint/debug_hsc/991112/991112.jpg +is_test=True +need_upload_result=False +is_run_local_data=True +pre_batch_id=991112 +print_ids=[85240, 88136] +---------------------------------------- +---------------------------------------- +已删除: /home/algo/Documents/print_factory_type/data/991112/857420_268473Tex1.jpg +已删除: /home/algo/Documents/print_factory_type/data/991112/857420_268473_P85240_5cm_x1.obj +已删除: /home/algo/Documents/print_factory_type/data/991112/875986_305425Tex1.jpg +已删除: /home/algo/Documents/print_factory_type/data/991112/857420_268473.mtl +已删除: /home/algo/Documents/print_factory_type/data/991112/875986_305425_P88136_9cm_x1.obj +已删除: /home/algo/Documents/print_factory_type/data/991112/blend/305425_org.blend +目录 /home/algo/Documents/print_factory_type/data/991112/blend 下的内容已清空。 +已删除子目录: /home/algo/Documents/print_factory_type/data/991112/blend +已删除: /home/algo/Documents/print_factory_type/data/991112/991112.json +已删除: /home/algo/Documents/print_factory_type/data/991112/991112.jpg +已删除: /home/algo/Documents/print_factory_type/data/991112/875986_305425.mtl +目录 /home/algo/Documents/print_factory_type/data/991112 下的内容已清空。 +已删除子目录: /home/algo/Documents/print_factory_type/data/991112 +目录 /home/algo/Documents/print_factory_type/data/ 下的内容已清空。 +目录 /home/algo/Documents/print_factory_type/full/ 下的内容已清空。 +从文件读取了 2 个path +开始下载print_model_info: BatchModelInfo(order_id=875986, pid=305425, print_order_id=88136, model_size='9cm_x1', path='objs/download/print/305425/base/model/9cm', count=1) +target_dir= /home/algo/Documents/print_factory_type/data/991112 +前缀 'objs/download/print/305425/base/model/9cm/' 存在，共找到 6 个对象。 +已更新材质库引用: 305425Tex1.jpg -> 875986_305425Tex1.jpg +下载文件: objs/download/print/305425/base/model/9cm/305425.mtl -> /home/algo/Documents/print_factory_type/data/991112/875986_305425.mtl +下载文件: objs/download/print/305425/base/model/9cm/305425.obj -> /home/algo/Documents/print_factory_type/data/991112/875986_305425_P88136_9cm_x1.obj +下载文件: objs/download/print/305425/base/model/9cm/305425Tex1.jpg -> /home/algo/Documents/print_factory_type/data/991112/875986_305425Tex1.jpg +下载文件: objs/download/print/305425/base/model/9cm/blend/305425_org.blend -> /home/algo/Documents/print_factory_type/data/991112/blend/305425_org.blend +下载 in obj_key +下载 in obj_key +开始下载print_model_info: BatchModelInfo(order_id=857420, pid=268473, print_order_id=85240, model_size='5cm_x1', path='objs/download/print/268473/base_cartoon/badge/1/5cm', count=1) +target_dir= /home/algo/Documents/print_factory_type/data/991112 +前缀 'objs/download/print/268473/base_cartoon/badge/1/5cm/' 存在，共找到 4 个对象。 +已更新材质库引用: 268473Tex1.jpg -> 857420_268473Tex1.jpg +下载文件: objs/download/print/268473/base_cartoon/badge/1/5cm/268473.mtl -> /home/algo/Documents/print_factory_type/data/991112/857420_268473.mtl +下载文件: objs/download/print/268473/base_cartoon/badge/1/5cm/268473.obj -> /home/algo/Documents/print_factory_type/data/991112/857420_268473_P85240_5cm_x1.obj +下载文件: objs/download/print/268473/base_cartoon/badge/1/5cm/268473Tex1.jpg -> /home/algo/Documents/print_factory_type/data/991112/857420_268473Tex1.jpg +下载 in obj_key +下载耗时：4.482503890991211 +selected_machine 小机型 selected_mode 紧凑 output_format JSON +make_bbox_for_print total_time=5.583776950836182 +z_volume_center1=3.494785873362541, z_volume_center2=4.630428442012234 +compute_bbox 857420_268473_P85240_5cm_x1.obj time=2.4529471397399902 +z_volume_center1=7.4748487042688625, z_volume_center2=8.653334486695568 +compute_bbox 875986_305425_P88136_9cm_x1.obj time=2.36457896232605 +all_models [{'name': '857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply', 'dimensions': (50, 50, 9)}, {'name': '875986_305425_P88136_9cm_x1=19.759+25.308+90.184.ply', 'dimensions': (90, 25, 19)}] +开始计算排序... +开始计算排序... +⚠️ 单层放置模式：所有模型只能放在平台底面（Z=0） +arrange_models 875986_305425_P88136_9cm_x1=19.759+25.308+90.184.ply +pre_name1=875986_305425_P88136_9cm, pre_name2= +First Model 875986_305425_P88136_9cm_x1=19.759+25.308+90.184.ply +model position1 875986_305425_P88136_9cm_x1=19.759+25.308+90.184.ply (96, 339, 0) +arrange_models 857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply +pre_name1=857420_268473_P85240_5cm, pre_name2= +857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply px 150 96 90 +final_y2 857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply 56 345 50 6 150 +can_place False 1 cross_border 150, 340, 0, {'name': '857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply', 'dimensions': (50, 50, 9), 'first_line': True}, 380, 345, 250 +model position2 857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply (150, 339, 0) +Placed Models: + - 875986_305425_P88136_9cm_x1=19.759+25.308+90.184.ply at (96, 339, 0) with dimensions (90, 25, 19) + - 857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply at (150, 339, 0) with dimensions (50, 50, 9) +Unplaced Models: + - 875986_305425_P88136_9cm_x1=19.759+25.308+90.184.ply at (96, 339, 0) with dimensions (90, 25, 19) + - 857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply at (150, 339, 0) with dimensions (50, 50, 9) +pcd_second : len(pcd_first)=2, len(pcd_second)=0, len(last_pcd_processed)=2, len(pcd_all)=2 +is_test= True +need_upload_result=False +3D打印布局已保存至: /home/algo/Documents/print_factory_type/data/991112/991112.json +排版错误模型数量：：0 +排版剩余模型数量：：0 +排版完成 +排版总耗时：：0 分 / 17.15925693511963 秒 +计算重心：：0 分 / 17.15758728981018 秒 +排包围盒：：0 分 / 0.0007126331329345703 秒 +挪紧凑：：0 分 / 0.00011324882507324219 秒 +移动到位置：：0 分 / 0.0008420944213867188 秒 +选择机型=小机型 +已加载并变换: 857420_268473_P85240_5cm_x1.obj +已加载并变换: 875986_305425_P88136_9cm_x1.obj +add_plank /home/algo/Documents/print_factory_type/blank/blank_bias/blank_small.obj +成功加载并变换了 3 个模型 +高级渲染图片已保存到: /home/algo/Documents/print_factory_type/data/991112/991112.jpg +保存截图耗时：：0 分 / 7.824073791503906 秒 +执行上 传-parent_dir=/home/algo/Documents/print_factory_type,base_original_obj_dir=/home/algo/Documents/print_factory_type/data/991112,batch_id=991112 +is_use_debug_oss=True +target_dir=/home/algo/Documents/print_factory_type/data/991112, batch_id=991112 +文件已上传到: batchPrint/debug_hsc/991112/991112.json +文件已上传到: batchPrint/debug_hsc/991112/991112.jpg +is_test=True +need_upload_result=False +is_run_local_data=True +pre_batch_id=991112 +print_ids=[85240, 88136] +---------------------------------------- +---------------------------------------- +已删除: /home/algo/Documents/print_factory_type/data/991112/857420_268473Tex1.jpg +已删除: /home/algo/Documents/print_factory_type/data/991112/857420_268473_P85240_5cm_x1.obj +已删除: /home/algo/Documents/print_factory_type/data/991112/875986_305425Tex1.jpg +已删除: /home/algo/Documents/print_factory_type/data/991112/857420_268473.mtl +已删除: /home/algo/Documents/print_factory_type/data/991112/875986_305425_P88136_9cm_x1.obj +已删除: /home/algo/Documents/print_factory_type/data/991112/blend/305425_org.blend +目录 /home/algo/Documents/print_factory_type/data/991112/blend 下的内容已清空。 +已删除子目录: /home/algo/Documents/print_factory_type/data/991112/blend +已删除: /home/algo/Documents/print_factory_type/data/991112/991112.json +已删除: /home/algo/Documents/print_factory_type/data/991112/991112.jpg +已删除: /home/algo/Documents/print_factory_type/data/991112/875986_305425.mtl +目录 /home/algo/Documents/print_factory_type/data/991112 下的内容已清空。 +已删除子目录: /home/algo/Documents/print_factory_type/data/991112 +目录 /home/algo/Documents/print_factory_type/data/ 下的内容已清空。 +目录 /home/algo/Documents/print_factory_type/full/ 下的内容已清空。 +从文件读取了 2 个path +开始下载print_model_info: BatchModelInfo(order_id=875986, pid=305425, print_order_id=88136, model_size='9cm_x1', path='objs/download/print/305425/base/model/9cm', count=1) +target_dir= /home/algo/Documents/print_factory_type/data/991112 +前缀 'objs/download/print/305425/base/model/9cm/' 存在，共找到 6 个对象。 +已更新材质库引用: 305425Tex1.jpg -> 875986_305425Tex1.jpg +下载文件: objs/download/print/305425/base/model/9cm/305425.mtl -> /home/algo/Documents/print_factory_type/data/991112/875986_305425.mtl +下载文件: objs/download/print/305425/base/model/9cm/305425.obj -> /home/algo/Documents/print_factory_type/data/991112/875986_305425_P88136_9cm_x1.obj +下载文件: objs/download/print/305425/base/model/9cm/305425Tex1.jpg -> /home/algo/Documents/print_factory_type/data/991112/875986_305425Tex1.jpg +下载文件: objs/download/print/305425/base/model/9cm/blend/305425_org.blend -> /home/algo/Documents/print_factory_type/data/991112/blend/305425_org.blend +下载 in obj_key +下载 in obj_key +开始下载print_model_info: BatchModelInfo(order_id=857420, pid=268473, print_order_id=85240, model_size='5cm_x1', path='objs/download/print/268473/base_cartoon/badge/1/5cm', count=1) +target_dir= /home/algo/Documents/print_factory_type/data/991112 +前缀 'objs/download/print/268473/base_cartoon/badge/1/5cm/' 存在，共找到 4 个对象。 +已更新材质库引用: 268473Tex1.jpg -> 857420_268473Tex1.jpg +下载文件: objs/download/print/268473/base_cartoon/badge/1/5cm/268473.mtl -> /home/algo/Documents/print_factory_type/data/991112/857420_268473.mtl +下载文件: objs/download/print/268473/base_cartoon/badge/1/5cm/268473.obj -> /home/algo/Documents/print_factory_type/data/991112/857420_268473_P85240_5cm_x1.obj +下载文件: objs/download/print/268473/base_cartoon/badge/1/5cm/268473Tex1.jpg -> /home/algo/Documents/print_factory_type/data/991112/857420_268473Tex1.jpg +下载 in obj_key +下载耗时：4.554089784622192 +selected_machine 小机型 selected_mode 紧凑 output_format JSON +make_bbox_for_print total_time=5.638967514038086 +z_volume_center1=3.494785873362541, z_volume_center2=4.630428442012234 +compute_bbox 857420_268473_P85240_5cm_x1.obj time=2.3993477821350098 +z_volume_center1=7.4748487042688625, z_volume_center2=8.653334486695568 +compute_bbox 875986_305425_P88136_9cm_x1.obj time=2.222135305404663 +all_models [{'name': '857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply', 'dimensions': (50, 50, 9)}, {'name': '875986_305425_P88136_9cm_x1=19.759+25.308+90.184.ply', 'dimensions': (90, 25, 19)}] +开始计算排序... +开始计算排序... +⚠️ 单层放置模式：所有模型只能放在平台底面（Z=0） +arrange_models 875986_305425_P88136_9cm_x1=19.759+25.308+90.184.ply +pre_name1=875986_305425_P88136_9cm, pre_name2= +First Model 875986_305425_P88136_9cm_x1=19.759+25.308+90.184.ply +model position1 875986_305425_P88136_9cm_x1=19.759+25.308+90.184.ply (96, 339, 0) +arrange_models 857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply +pre_name1=857420_268473_P85240_5cm, pre_name2= +857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply px 150 96 90 +final_y2 857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply 56 345 50 6 150 +can_place False 1 cross_border 150, 340, 0, {'name': '857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply', 'dimensions': (50, 50, 9), 'first_line': True}, 380, 345, 250 +model position2 857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply (150, 339, 0) +Placed Models: + - 875986_305425_P88136_9cm_x1=19.759+25.308+90.184.ply at (96, 339, 0) with dimensions (90, 25, 19) + - 857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply at (150, 339, 0) with dimensions (50, 50, 9) +Unplaced Models: + - 875986_305425_P88136_9cm_x1=19.759+25.308+90.184.ply at (96, 339, 0) with dimensions (90, 25, 19) + - 857420_268473_P85240_5cm_x1=9.41+49.997+49.997.ply at (150, 339, 0) with dimensions (50, 50, 9) +pcd_second : len(pcd_first)=2, len(pcd_second)=0, len(last_pcd_processed)=2, len(pcd_all)=2 +is_test= True +need_upload_result=False +3D打印布局已保存至: /home/algo/Documents/print_factory_type/data/991112/991112.json +排版错误模型数量：：0 +排版剩余模型数量：：0 +排版完成 +排版总耗时：：0 分 / 16.85209321975708 秒 +计算重心：：0 分 / 16.850478410720825 秒 +排包围盒：：0 分 / 0.0006732940673828125 秒 +挪紧凑：：0 分 / 0.00010204315185546875 秒 +移动到位置：：0 分 / 0.0008370876312255859 秒 +选择机型=小机型 +已加载并变换: 857420_268473_P85240_5cm_x1.obj +已加载并变换: 875986_305425_P88136_9cm_x1.obj +add_plank /home/algo/Documents/print_factory_type/blank/blank_bias/blank_small.obj +成功加载并变换了 3 个模型 +高级渲染图片已保存到: /home/algo/Documents/print_factory_type/data/991112/991112.jpg +保存截图耗时：：0 分 / 7.028083324432373 秒 +执行上 传-parent_dir=/home/algo/Documents/print_factory_type,base_original_obj_dir=/home/algo/Documents/print_factory_type/data/991112,batch_id=991112 +is_use_debug_oss=True +target_dir=/home/algo/Documents/print_factory_type/data/991112, batch_id=991112 +文件已上传到: batchPrint/debug_hsc/991112/991112.json +文件已上传到: batchPrint/debug_hsc/991112/991112.jpg +is_test=True +need_upload_result=False +is_run_local_data=True +pre_batch_id=991112 +print_ids=[85240, 88136] +---------------------------------------- +---------------------------------------- +已删除: /home/algo/Documents/print_factory_type/data/991112/857420_268473Tex1.jpg +已删除: /home/algo/Documents/print_factory_type/data/991112/857420_268473_P85240_5cm_x1.obj +已删除: /home/algo/Documents/print_factory_type/data/991112/875986_305425Tex1.jpg +已删除: /home/algo/Documents/print_factory_type/data/991112/857420_268473.mtl +已删除: /home/algo/Documents/print_factory_type/data/991112/875986_305425_P88136_9cm_x1.obj +已删除: /home/algo/Documents/print_factory_type/data/991112/blend/305425_org.blend +目录 /home/algo/Documents/print_factory_type/data/991112/blend 下的内容已清空。 +已删除子目录: /home/algo/Documents/print_factory_type/data/991112/blend +已删除: /home/algo/Documents/print_factory_type/data/991112/991112.json +已删除: /home/algo/Documents/print_factory_type/data/991112/991112.jpg +已删除: /home/algo/Documents/print_factory_type/data/991112/875986_305425.mtl +目录 /home/algo/Documents/print_factory_type/data/991112 下的内容已清空。 +已删除子目录: /home/algo/Documents/print_factory_type/data/991112 +目录 /home/algo/Documents/print_factory_type/data/ 下的内容已清空。 +目录 /home/algo/Documents/print_factory_type/full/ 下的内容已清空。 +从文件读取了 2 个path +开始下载print_model_info: BatchModelInfo(order_id=857420, pid=268473, print_order_id=85240, model_size='5cm_x1', path='objs/download/print/268473/base_cartoon/badge/1/5cm', count=1) +target_dir= /home/algo/Documents/print_factory_type/data/991112 +前缀 'objs/download/print/268473/base_cartoon/badge/1/5cm/' 存在，共找到 4 个对象。 +已更新材质库引用: 268473Tex1.jpg -> 857420_268473Tex1.jpg +下载文件: objs/download/print/268473/base_cartoon/badge/1/5cm/268473.mtl -> /home/algo/Documents/print_factory_type/data/991112/857420_268473.mtl +下载文件: objs/download/print/268473/base_cartoon/badge/1/5cm/268473.obj -> /home/algo/Documents/print_factory_type/data/991112/857420_268473_P85240_5cm_x1.obj +下载文件: objs/download/print/268473/base_cartoon/badge/1/5cm/268473Tex1.jpg -> /home/algo/Documents/print_factory_type/data/991112/857420_268473Tex1.jpg +下载 in obj_key +开始下载print_model_info: BatchModelInfo(order_id=875986, pid=305425, print_order_id=88136, model_size='9cm_x1', path='objs/download/print/305425/base/model/9cm', count=1) +target_dir= /home/algo/Documents/print_factory_type/data/991112 +前缀 'objs/download/print/305425/base/model/9cm/' 存在，共找到 6 个对象。 diff --git a/point_cloud_layout.py b/point_cloud_layout.py new file mode 100644 index 0000000..9e77fba --- /dev/null +++ b/point_cloud_layout.py @@ -0,0 +1,1567 @@ +import os +import json +import requests +import shutil +import time +import random +import matplotlib.pyplot as plt +import open3d as o3d +import numpy as np +from plyfile import PlyData, PlyElement + +from config import is_test +from config import print_factory_type_dir + +from general import mesh_tranform_to_pcd +from general import need_upload_result + +from compute_print_net import get_models_bbox +from compute_print_net import arrange_models_on_platform +from compute_print_net import Platform +from compute_print_net import down_sample +from compute_print_net import read_mesh +from compute_print_net import compute_bbox_all +from compute_print_net import compute_bbox_all_ext + +def make_bbox_for_print(base_original_obj_dir,dict_bad,dict_origin,compact_min_dis): + """获取需要的盒子大小""" + start_time = time.time() + + obj_id_list = [aa.split(".o")[0] for aa in os.listdir(base_original_obj_dir) if aa.endswith(".obj")] + obj_id_list = obj_id_list + + dict_mesh_obj = {} + for pid_t_y in obj_id_list: + + obj_name = pid_t_y+".obj" + obj_path = os.path.join(base_original_obj_dir,obj_name) + mesh_obj = read_mesh(obj_path) + + if mesh_obj is None: + dict_bad[obj_name]=obj_name + # 记录错误文件 + error_log = os.path.join(base_original_obj_dir, "error_files.txt") + with open(error_log, 'a') as f: + f.write(f"{obj_path}\n") + print(f"Skipping invalid file: {obj_path}") + continue + + # dict_origin[obj_path] = copy.deepcopy(mesh_obj) + dict_origin[obj_name] = copy.deepcopy(mesh_obj) + dict_mesh_obj[obj_name] = mesh_obj + + print(f"make_bbox_for_print total_time={time.time()-start_time}") + + dict_total_matrix,all_models = compute_bbox_all_ext(base_original_obj_dir, compact_min_dis) + # dict_total_matrix,all_models = compute_bbox_all(dict_mesh_obj, compact_min_dis) + return get_dict_pcd(dict_mesh_obj,dict_total_matrix,all_models) + +def get_dict_pcd(dict_mesh_obj,dict_total_matrix,all_models): + dict_pcd_fix = {} + + dict_ply_name = {} + for model in all_models: + ply_name = model['name'] + dict_ply_name[f"{ply_name.split("=")[0]}.obj"] = ply_name + + dict_pcd_fix = get_pcd_by_matrix(dict_mesh_obj,dict_total_matrix,dict_ply_name) + + return dict_total_matrix,all_models,dict_pcd_fix + +def get_pcd_by_matrix(dict_mesh_obj,dict_total_matrix,dict_ply_name): + + dict_pcd_fix= {} + + for key, value in dict_mesh_obj.items(): + obj_name = key + mesh_obj = value + pcd_fix = mesh_tranform_to_pcd(mesh_obj, dict_total_matrix[obj_name]) + dict_pcd_fix[dict_ply_name[obj_name]] = pcd_fix + + return dict_pcd_fix + + +def ply_print_layout_platform(dict_pcd_fix,dict_pcd_fix2,machine_size,dict_total_matrix,all_models): + """根据排版结果移动点云到指定位置""" + # placed_models,unplaced_models = get_models_box_size(dict_fix,machine_size) + + # 1. 获取模型bbox尺寸 + # all_models = get_models_bbox_net(dict_pcd_fix) + print("all_models", all_models) + + # 2. 模型排版布局 + print("开始计算排序...") + placed_models, unplaced_models = arrange_models_on_platform(all_models, machine_size) + + if len(placed_models) ==0: + print("放进打印盒的数量为0") + return + + # 3. 根据排版结果移动点云和模型（原有逻辑不变） + for model in placed_models: + print(f" - {model['name']} at {model['position']} with dimensions {model['dimensions']}") + ply_file_name = model['name'] + move_position = model['position'] + # print("要读取的点云数据路径",ply_origin_path) + pcd = dict_pcd_fix[ply_file_name] + # print("dict_fix read",ply_file_name,move_position) + + points = np.asarray(pcd.points) + min_bound = np.min(points, axis=0) # 获取点云的最小边界 + max_bound = np.max(points, axis=0) + min_bound[1] = max(min_bound[1], 0) + bbox_center = (min_bound + max_bound) / 2 # 计算包围盒的中心点 + bbox_extent = (max_bound - min_bound) + new_bbox = o3d.geometry.OrientedBoundingBox(center=bbox_center, + R=np.eye(3), # 旋转矩阵，默认没有旋转 + extent=bbox_extent) + x = move_position[0] + y = move_position[1] + z = move_position[2] + # move_position = np.array([x,y,z])/100 + move_position = np.array([x, y, z]) + # translation_vector = -move_position + translation_vector = move_position + pcd.translate(translation_vector) + new_bbox.translate(translation_vector) + obj_name = ply_file_name.split("=")[0]+".obj" + + T_trans1 = np.eye(4) + T_trans1[:3, 3] = translation_vector + dict_total_matrix[obj_name]= T_trans1 @ dict_total_matrix[obj_name] + + new_bbox_lines = o3d.geometry.LineSet.create_from_oriented_bounding_box(new_bbox) + new_bbox_lines.paint_uniform_color([1, 0, 0]) # 红色 + + dict_pcd_fix2[ply_file_name] = pcd + + return placed_models + +def get_models_bbox_net(dict_pcd_fix): + return get_models_bbox(dict_pcd_fix) + +""" +def get_models_box_size(dict_fix,machine_size): + #获取排版的盒子大小 + models = [] + for ply_file in dict_fix: + bbox_with_text = ply_file.split("=") + bbox_with = bbox_with_text[-1] + split_text = bbox_with.replace(".ply","").split("+") + extend_dist = 2 + x_length = int(float(split_text[2])*100) + extend_dist + y_length = int(float(split_text[0])*100) + extend_dist + z_length = int(float(split_text[1])*100) + extend_dist + #print("get_models_box_size",x_length,y_length,z_length) + models.append({'name':ply_file,'dimensions':(int(x_length/100),int(z_length/100),int(y_length/100))}) + print(models) + + platform = Platform(int(machine_size[0]), int(machine_size[1]), int(machine_size[2])) + print("开始计算排序...") + platform.arrange_models(models) + platform.print_results() + return platform.get_result() +""" + +def compute_distance(pcd1, pcd2): + """ + 正确计算两个点云之间距离的函数。 + 返回两个点云之间最近距离的平均值、最小值以及全部距离数组。 + """ + # 使用Open3D内置的高效方法计算距离 + # 计算pcd1中每个点到pcd2中最近点的距离 + distances = pcd1.compute_point_cloud_distance(pcd2) + distances = np.asarray(distances) + + # 计算有意义的统计量 + min_dist = np.min(distances) # 所有点中的最小距离 + mean_dist = np.mean(distances) # 距离的平均值 + + # return min_dist, mean_dist, distances + return min_dist + +def compute_distance_x(pcd1, pcd2): + points1 = np.asarray(pcd1.points)[:, 0] # 提取所有X坐标[3](@ref) + points2 = np.asarray(pcd2.points)[:, 0] + + x_diff = np.abs(points1[:, np.newaxis] - points2) + return np.min(x_diff) + +def compute_distance_y(pcd1, pcd2): + points1 = np.asarray(pcd1.points)[:, 1] # 提取所有Y坐标[3](@ref) + points2 = np.asarray(pcd2.points)[:, 1] + + y_diff = np.abs(points1.reshape(-1, 1) - points2) + return np.min(y_diff) + +def check_collision_x(pcd_moving, static_pcds,collision_threshold): + moving_points = np.asarray(pcd_moving.points) + min_distance_to_x_axis = np.min(np.abs(moving_points[:, 1])) # Y 坐标即为与 X 轴的距离 + #print(f"与 X 轴的最小距离: {min_distance_to_x_axis}") + #print(f"与 Y 轴的最小距离: {min_distance_to_y_axis}") + #print(f"pcd_moving{len(static_pcds)}") + if min_distance_to_x_axis < collision_threshold: + print(f"与 X 轴发生碰撞! 最小距离: {min_distance_to_x_axis}") + return True + + return check_collision_all(pcd_moving, static_pcds,collision_threshold) + +def check_collision_y(pcd_moving, static_pcds,collision_threshold): + moving_points = np.asarray(pcd_moving.points) + #print(f"与 X 轴的最小距离: {min_distance_to_x_axis}") + min_distance_to_y_axis = np.min(np.abs(moving_points[:, 0])) # X 坐标即为与 Y 轴的距离 + #print(f"与 Y 轴的最小距离: {min_distance_to_y_axis}") + #print(f"pcd_moving{len(static_pcds)}") + if min_distance_to_y_axis < collision_threshold: + print(f"与 Y 轴发生碰撞! 最小距离: {min_distance_to_y_axis}") + return True + + return check_collision_all(pcd_moving, static_pcds,collision_threshold) + +import numpy as np + +def compute_aabb(pcd): + """计算点云的AABB包围盒""" + points = np.asarray(pcd.points) + return { + 'min': np.min(points, axis=0), + 'max': np.max(points, axis=0) + } + +def aabb_intersect(a, b, collision_threshold): + """判断两个AABB包围盒是否相交[2,8](@ref)""" + return (a['max'][0] > b['min'][0] - collision_threshold and a['min'][0] < b['max'][0] + collision_threshold) and \ + (a['max'][1] > b['min'][1] - collision_threshold and a['min'][1] < b['max'][1] + collision_threshold) and \ + (a['max'][2] > b['min'][2] - collision_threshold and a['min'][2] < b['max'][2] + collision_threshold) + +def check_collision_all(pcd_moving, static_pcds, collision_threshold): + # 预计算移动点云AABB + moving_aabb = compute_aabb(pcd_moving) + + for static_pcd in static_pcds: + if static_pcd == pcd_moving: + continue + # 第一阶段：AABB快速排除[1,6](@ref) + static_aabb = compute_aabb(static_pcd) + # print("len(static_pcd.points)=",len(static_pcd.points),"len(moving_aabb.points)=",len(pcd_moving.points)) + if not aabb_intersect(moving_aabb, static_aabb, collision_threshold): + continue # 包围盒无交集，直接跳过 + + if not aabb_intersect(moving_aabb, static_aabb, collision_threshold): + return False + + # 第二阶段：精确点距离计算 + min_distance = compute_distance(pcd_moving, static_pcd) + # print("check_collision_all",min_distance) + if min_distance < collision_threshold: + return True + + return False + +def compute_centroid(pcd): + # 获取点云的所有点 + points = np.asarray(pcd.points) + # 计算质心（只考虑 X 和 Y 坐标） + centroid = np.mean(points[:, :2], axis=0) # 只考虑前两个维度（X 和 Y） + return centroid + +def compute_distance_to_origin(centroid): + # 计算质心距离原点的距离（只考虑 X 和 Y 坐标） + return np.linalg.norm(centroid) # 计算 X 和 Y 的欧几里得距离 + +def compute_closest_distance_to_origin(pcd): + # 获取点云的所有点坐标 + points = np.asarray(pcd.points) + # 计算每个点到原点的距离 + distances = np.linalg.norm(points, axis=1) + # 返回最小距离 + return np.min(distances) + +def sort_ply_files_by_closest_distance(folder_path): + ply_files = [f for f in os.listdir(folder_path) if f.endswith('.ply')] + distances = [] + + for ply_file in ply_files: + # 读取点云数据 + pcd = o3d.io.read_point_cloud(os.path.join(folder_path, ply_file)) + # 计算离原点最近的点的距离 + closest_distance = compute_closest_distance_to_origin(pcd) + distances.append((ply_file, closest_distance)) + + # 按照最近点的距离排序（由近到远） + distances.sort(key=lambda x: x[1]) + + # 返回排序后的文件列表 + sorted_files = [item[0] for item in distances] + print("Sorted files:", sorted_files) + return sorted_files + +def compact_mode_for_min_dis_json(placed_models,dict_unplaced,dict_bounds_fix,machine_size,dict_total_matrix): + + y_step=1 + x_step=1 + delta = 10 + + edge_x_min=0 + 4 + edge_y_min=0 + 4 + edge_x_max=machine_size[0] + edge_y_max=machine_size[1] + + collision_threshold=2 + move_last = True + + pcd_all = [] + pcd_processed = [] + pcd_processed_x_top = [] + pcd_processed_no_x_top = [] + # name_list = [] + dict_name = {} + # model_list = [] + dict_model = {} + last_pcd_list = [] + # last_name_list = [] + dic_last_name = {} + last_pcd_processed = [] + max_x = machine_size[0] + min_x = 0 + max_delta_x = 0 + x_top_delta = 1 + border_delta = 4 + + pcd_first= [] + pcd_second= [] + + index = 0 + for model in placed_models: + pcd = dict_bounds_fix[model['name']] + + pcd_all.append(pcd) + + if (get_axis_aligned_bbox(pcd)['y_min']>edge_y_max*0.3 or True): + pcd_first.append(pcd) + else: + pcd_second.append(pcd) + + # pcd_all.append(pcd_downsampled) + # name_list.append(model['name']) + # model_list.append(model) + dict_name[pcd] = model['name'] + dict_model[pcd] = model + dx = model['dimensions'][0] + x = model['position'][0] + + if (x>=edge_x_max-x_top_delta) : + pcd_processed_x_top.append(pcd) + print("pcd_processed_x_top", model['name']) + if dx > max_x: + max_x = dx + if dx < min_x: + min_x = dx + max_delta_x = max_x - min_x + + index += 1 + + # print("compact_mode_for_min_dis1_json", model, max_delta_x) + + draw_down = False + if max_delta_x < 10: + draw_down = False + + # for idx, pcd in enumerate(pcd_all): + for idx, pcd in enumerate(pcd_first): + + if dict_model[pcd]['first_line']: + pcd_processed.append(pcd) + last_pcd_processed.append(pcd) + continue + + x = dict_model[pcd]['position'][0] + y = dict_model[pcd]['position'][1] + dx = dict_model[pcd]['dimensions'][0] + print("compact_mode", dict_name[pcd], dx, x) + + ply_file_name = dict_name[pcd] + obj_name = ply_file_name.split("=")[0]+".obj" + + T_trans1 = np.eye(4) + + dist_x = 50 + dist_y = 20 + is_x_top = False + if x - 10 < edge_x_min: + dist_x = x - edge_x_min + if y - 10 < edge_y_min: + dist_y = y - edge_y_min + if (x 80: + y_init_big = 10 + x_init_big = y_init_big - 1 + + if check_collision_all(pcd, pcd_processed_curr, 1): + while True: + step = 25 + pcd.translate([0, -step, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, -step, 0] + T_trans1 = T_transTemp @ T_trans1 + # pcd.translate([-step, 0, 0]) + # T_transTemp[:3, 3] = [-step, 0, 0] + # T_trans1 = T_transTemp @ T_trans1 + + if not check_collision_all(pcd, pcd_processed_curr, collision_threshold_big): + break + + """ + while True: + bbox = get_axis_aligned_bbox(pcd) + if bbox['y_max'] >= edge_y_max - collision_threshold: + pcd.translate([-x_step_big, -y_step_big, 0]) + print("compact_mode y_max", idx, bbox['y_max'], edge_y_max - collision_threshold_big) + break + if bbox['x_max'] >= edge_x_max - collision_threshold: + pcd.translate([-x_step_big, -y_step_big, 0]) + print("compact_mode x_max", idx, bbox['x_max'], edge_x_max - collision_threshold_big) + break + if check_collision_all(pcd, pcd_processed_curr,collision_threshold_big): + pcd.translate([-x_step_big, -y_step_big, 0]) + break + pcd.translate([x_step_big, y_step_big, 0]) + #""" + #""" + while True: + bbox = get_axis_aligned_bbox(pcd) + # print("x_max",bbox['x_max'],bbox['x_min'],bbox['y_max'],bbox['y_min']) + if bbox['y_min'] <= edge_y_min + collision_threshold_big and False: + pcd.translate([0, y_step_big, 0]) + break + if bbox['y_max'] >= edge_y_max - collision_threshold_big: + pcd.translate([0, -y_step_big, 0]) + + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, -y_step_big, 0] + T_trans1 = T_transTemp @ T_trans1 + + break + if check_collision_all(pcd, pcd_processed_curr,collision_threshold_big+y_init_big): #5 + pcd.translate([0, -y_step_big, 0]) + + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, -y_step_big, 0] + T_trans1 = T_transTemp @ T_trans1 + + break + pcd.translate([0, y_step_big, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, y_step_big, 0] + T_trans1 = T_transTemp @ T_trans1 + while True: + bbox = get_axis_aligned_bbox(pcd) + if bbox['x_min'] <= edge_x_min + collision_threshold_big and False: + pcd.translate([x_step_big, 0, 0]) + break + if bbox['x_max'] >= edge_x_max - collision_threshold_big: + pcd.translate([-x_step_big, 0, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [-x_step_big, 0, 0] + T_trans1 = T_transTemp @ T_trans1 + break + if check_collision_all(pcd, pcd_processed_curr,collision_threshold_big+x_init_big): + pcd.translate([-x_step_big, 0, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [-x_step_big, 0, 0] + T_trans1 = T_transTemp @ T_trans1 + break + pcd.translate([x_step_big, 0, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [x_step_big, 0, 0] + T_trans1 = T_transTemp @ T_trans1 + #""" + #""" + collision_threshold_init = collision_threshold+6 + while True: + bbox = get_axis_aligned_bbox(pcd) + if bbox['y_min'] <= edge_y_min + collision_threshold_init and False: + pcd.translate([0, y_step, 0]) + break + # if bbox['y_max'] >= edge_y_max - collision_threshold_init: + if bbox['y_max'] >= edge_y_max - border_delta: + pcd.translate([0, -y_step, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, -y_step, 0] + T_trans1 = T_transTemp @ T_trans1 + break + if check_collision_all(pcd, pcd_processed_curr,collision_threshold_init+1): #5 + pcd.translate([0, -y_step, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, -y_step, 0] + T_trans1 = T_transTemp @ T_trans1 + break + pcd.translate([0, y_step, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, y_step, 0] + T_trans1 = T_transTemp @ T_trans1 + #""" + #""" + while True: + bbox = get_axis_aligned_bbox(pcd) + if bbox['x_min'] <= edge_x_min + collision_threshold_init and False: + pcd.translate([x_step, 0, 0]) + break + # if bbox['x_max'] >= edge_x_max - collision_threshold_init: + if bbox['x_max'] >= edge_x_max - border_delta: + # print("1pcd.translate([-x_step, 0, 0])",name_list[idx]) + pcd.translate([-x_step, 0, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [-x_step, 0, 0] + T_trans1 = T_transTemp @ T_trans1 + break + if check_collision_all(pcd, pcd_processed_curr,collision_threshold_init): + # print("2pcd.translate([-x_step, 0, 0])",name_list[idx]) + pcd.translate([-x_step, 0, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [-x_step, 0, 0] + T_trans1 = T_transTemp @ T_trans1 + break + pcd.translate([x_step, 0, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [x_step, 0, 0] + T_trans1 = T_transTemp @ T_trans1 + #""" + #""" + collision_threshold_init = collision_threshold+2 + while True: + bbox = get_axis_aligned_bbox(pcd) + if bbox['y_min'] <= edge_y_min + collision_threshold_init and False: + pcd.translate([0, y_step, 0]) + break + if bbox['y_max'] >= edge_y_max - collision_threshold_init: + pcd.translate([0, -y_step, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, -y_step, 0] + T_trans1 = T_transTemp @ T_trans1 + break + if check_collision_all(pcd, pcd_processed_curr,collision_threshold_init+1): #5 + pcd.translate([0, -y_step, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, -y_step, 0] + T_trans1 = T_transTemp @ T_trans1 + break + pcd.translate([0, y_step, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, y_step, 0] + T_trans1 = T_transTemp @ T_trans1 + while True: + bbox = get_axis_aligned_bbox(pcd) + if bbox['x_min'] <= edge_x_min + collision_threshold_init and False: + pcd.translate([x_step, 0, 0]) + break + if bbox['x_max'] >= edge_x_max - collision_threshold_init: + pcd.translate([-x_step, 0, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [-x_step, 0, 0] + T_trans1 = T_transTemp @ T_trans1 + break + if check_collision_all(pcd, pcd_processed_curr,collision_threshold_init): + pcd.translate([-x_step, 0, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [-x_step, 0, 0] + T_trans1 = T_transTemp @ T_trans1 + break + pcd.translate([x_step, 0, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [x_step, 0, 0] + T_trans1 = T_transTemp @ T_trans1 + # place again + collision_threshold_init = collision_threshold+1 + while True: + bbox = get_axis_aligned_bbox(pcd) + if bbox['y_min'] <= edge_y_min + collision_threshold_init and False: + pcd.translate([0, y_step, 0]) + break + if bbox['y_max'] >= edge_y_max - collision_threshold_init: + pcd.translate([0, -y_step, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, -y_step, 0] + T_trans1 = T_transTemp @ T_trans1 + break + if check_collision_all(pcd, pcd_processed_curr,collision_threshold_init): #5 + pcd.translate([0, -y_step, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, -y_step, 0] + T_trans1 = T_transTemp @ T_trans1 + break + pcd.translate([0, y_step, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, y_step, 0] + T_trans1 = T_transTemp @ T_trans1 + #""" + pcd_processed.append(pcd) + pcd_processed_x_top.append(pcd) + if not is_x_top: + pcd_processed_no_x_top.append(pcd) + + cross_border = False + bbox = get_axis_aligned_bbox(pcd) + if bbox['x_min'] <= edge_x_min + 1 or bbox['y_min'] <= edge_y_min + 1: + cross_border = True + print("coross_border",ply_file_name) + + if cross_border: + pcd_second.append(pcd) + dic_last_name[pcd] = ply_file_name + else: + last_pcd_processed.append(pcd) + + dict_total_matrix[obj_name]= T_trans1 @ dict_total_matrix[obj_name] + + volumes = [] + # for idx, pcd in enumerate(last_pcd_list): + for idx, pcd in enumerate(pcd_second): + bbox = get_axis_aligned_bbox(pcd) + + x_length = bbox['x_max'] - bbox['x_min'] + y_length = bbox['y_max'] - bbox['y_min'] + z_length = bbox['z_max'] - bbox['z_min'] + volume = x_length * y_length * z_length + volumes.append(volume) + + # print("last_pcd_list", len(last_pcd_list), len(last_pcd_list), len(last_pcd_processed), len(pcd_all)) + # sorted_indices = np.argsort(volumes)[::-1] + # last_pcd_list2 = [last_pcd_list[i] for i in sorted_indices] + # print("last_pcd_list2", len(last_pcd_list2)) + + print(f"pcd_second : len(pcd_first)={len(pcd_first)}, len(pcd_second)={len(pcd_second)}, len(last_pcd_processed)={len(last_pcd_processed)}, len(pcd_all)={len(pcd_all)}") + sorted_indices = np.argsort(volumes)[::-1] + pcd_second2 = [pcd_second[i] for i in sorted_indices] + # print("pcd_second2 len", len(pcd_second2)) + + for idx, pcd in enumerate(pcd_second2): + + ply_file_name = dict_name[pcd] + obj_name = ply_file_name.split("=")[0]+".obj" + + # print("pcd_second2", obj_name) + + T_trans1 = np.eye(4) + + points = np.asarray(pcd.points) + min_x = np.min(points[:, 0]) + max_y = np.max(points[:, 1]) # 当前最大y值 + + tx = edge_x_min - min_x + ty = -max_y - 0.001 + + T_transTemp = move_to_top_left(pcd, edge_x_min+2, edge_y_max-2) + + T_trans1 = T_transTemp @ T_trans1 + + name = dict_name[pcd] + # print("pcd_second2",name,"tx",tx,"ty",ty) + succ_move = True + y_accum = 0 + finish_move2 = False + while True: + bbox = get_axis_aligned_bbox(pcd) + collision_threshold_init = collision_threshold+1 + if bbox['y_min'] <= edge_y_min + collision_threshold_init: + print("succ_move False",name,bbox['y_min'],edge_y_min + collision_threshold_init) + succ_move = False + finish_move2 = True + + if (finish_move2): + break + else: + if not check_collision_all(pcd, last_pcd_processed,collision_threshold_init): + print("succ_move1",name,bbox['x_max'],bbox['y_max'],len(last_pcd_processed)) + break + + pcd.translate([0, -y_step, 0]) + + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, -y_step, 0] + T_trans1 = T_transTemp @ T_trans1 + + y_accum += y_step + + if succ_move: + #print("succ_move2", name) + """ + while True: + bbox = get_axis_aligned_bbox(pcd) + if bbox['x_max'] >= edge_x_max - collision_threshold_big: + pcd.translate([-x_step_big, 0, 0]) + break + if check_collision_all(pcd, last_pcd_processed,collision_threshold_big): + pcd.translate([-x_step_big, 0, 0]) + break + pcd.translate([x_step_big, 0, 0]) + while True: + bbox = get_axis_aligned_bbox(pcd) + if bbox['y_max'] >= edge_y_max - collision_threshold: + pcd.translate([0, -y_step, 0]) + break + if check_collision_all(pcd, last_pcd_processed,collision_threshold+1): #5 + pcd.translate([0, -y_step, 0]) + break + pcd.translate([0, y_step, 0]) + while True: + bbox = get_axis_aligned_bbox(pcd) + if bbox['x_max'] >= edge_x_max - collision_threshold: + pcd.translate([-x_step, 0, 0]) + break + if check_collision_all(pcd, last_pcd_processed,collision_threshold): + pcd.translate([-x_step, 0, 0]) + break + pcd.translate([x_step, 0, 0]) + #""" + + #""" + x_accu = 0 + while True: + bbox = get_axis_aligned_bbox(pcd) + collision_threshold_init = collision_threshold+2 + #print("Move x_step_big", name, bbox['y_max'], bbox['x_max']) + if bbox['x_max'] >= edge_x_max - collision_threshold_init: + pcd.translate([-x_accu, 0, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [-x_accu, 0, 0] + T_trans1 = T_transTemp @ T_trans1 + break + if not check_collision_all(pcd, last_pcd_processed,collision_threshold_init): + x_accu = 0 + while True: + bbox = get_axis_aligned_bbox(pcd) + collision_threshold_init = collision_threshold+1 + if bbox['y_max'] >= edge_y_max - collision_threshold_init: + pcd.translate([0, -y_step_big, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, -y_step_big, 0] + T_trans1 = T_transTemp @ T_trans1 + #print("Move y_max", name, bbox['y_max'], bbox['x_max']) + break + if check_collision_all(pcd, last_pcd_processed,collision_threshold_init): + pcd.translate([0, -y_step_big, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, -y_step_big, 0] + T_trans1 = T_transTemp @ T_trans1 + #print("Move y_max2", name, bbox['y_max'], bbox['x_max']) + break + pcd.translate([0, y_step_big, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, y_step_big, 0] + T_trans1 = T_transTemp @ T_trans1 + #print("Move y_step_big", name, bbox['y_max'], bbox['x_max']) + else: + n = 1 + + x_accu += x_step_big + pcd.translate([x_step_big, 0, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [x_step_big, 0, 0] + T_trans1 = T_transTemp @ T_trans1 + #""" + else: + # T_transTemp = move_to_bottom_left(pcd, edge_x_min, edge_y_min) + T_transTemp = move_to_bottom_right(pcd, edge_x_max, edge_y_min) + T_trans1 = T_transTemp @ T_trans1 + + print("last place", name) + + """ + while True: + bbox = get_axis_aligned_bbox(pcd) + collision_threshold_init = collision_threshold+10 + if bbox['x_max'] >= edge_x_max - collision_threshold_init: + print("fail to place",name) + break + if not check_collision_all(pcd, last_pcd_processed,collision_threshold_init): + print("last place2",name) + break + pcd.translate([x_step_big, 0, 0]) + while True: + bbox = get_axis_aligned_bbox(pcd) + collision_threshold_init = collision_threshold+3 + if bbox['y_max'] >= edge_y_max - collision_threshold_init: + pcd.translate([0, -y_step_big, 0]) + print("last place3",name) + break + if check_collision_all(pcd, last_pcd_processed,collision_threshold_init): #5 + pcd.translate([0, -y_step_big, 0]) + print("last place4",name,collision_threshold_init,len(last_pcd_processed)) + break + pcd.translate([0, y_step_big, 0]) + print("last place41",y_step_big) + while True: + bbox = get_axis_aligned_bbox(pcd) + if bbox['y_max'] >= edge_y_max - collision_threshold: + pcd.translate([0, -y_step, 0]) + print("last place5",name) + break + if check_collision_all(pcd, last_pcd_processed,collision_threshold+1): #5 + pcd.translate([0, -y_step, 0]) + print("last place6",name) + break + pcd.translate([0, y_step, 0]) + while True: + bbox = get_axis_aligned_bbox(pcd) + if bbox['x_max'] >= edge_x_max - collision_threshold: + pcd.translate([-x_step, 0, 0]) + print("last place7",name) + break + if check_collision_all(pcd, last_pcd_processed,collision_threshold): + pcd.translate([-x_step, 0, 0]) + print("last place8",name) + break + pcd.translate([x_step, 0, 0]) + #""" + + """ + can_place_last = False + x_accu = 0 + while True: + bbox = get_axis_aligned_bbox(pcd) + collision_threshold_init = collision_threshold+2 + if bbox['x_max'] >= edge_x_max - collision_threshold_init: + if not can_place_last: + print("fail to place",name) + dict_unplaced[name]=name + else: + pcd.translate([-x_accu, 0, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [-x_accu, 0, 0] + T_trans1 = T_transTemp @ T_trans1 + break + if not check_collision_all(pcd, last_pcd_processed,collision_threshold_init): + can_place_last = True + x_accu = 0 + while True: + bbox = get_axis_aligned_bbox(pcd) + collision_threshold_init = collision_threshold+1 + if bbox['y_max'] >= edge_y_max - collision_threshold_init: + pcd.translate([0, -y_step_big, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, -y_step_big, 0] + T_trans1 = T_transTemp @ T_trans1 + break + if check_collision_all(pcd, last_pcd_processed,collision_threshold_init): + pcd.translate([0, -y_step_big, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, -y_step_big, 0] + T_trans1 = T_transTemp @ T_trans1 + break + pcd.translate([0, y_step_big, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, y_step_big, 0] + T_trans1 = T_transTemp @ T_trans1 + #print("Move2 y_step_big", name) + else: + n = 1 + + x_accu += x_step_big + pcd.translate([x_step_big, 0, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [x_step_big, 0, 0] + T_trans1 = T_transTemp @ T_trans1 + #""" + + #""" + can_place_last = False + x_accu = 0 + while True: + bbox = get_axis_aligned_bbox(pcd) + collision_threshold_init = collision_threshold+2 + if bbox['x_max'] >= edge_x_max - collision_threshold_init: + if not can_place_last: + print("fail to place",name) + dict_unplaced[name]=name + else: + pcd.translate([-x_accu, 0, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [-x_accu, 0, 0] + T_trans1 = T_transTemp @ T_trans1 + break + if not check_collision_all(pcd, last_pcd_processed,collision_threshold_init): + can_place_last = True + x_accu = 0 + while True: + bbox = get_axis_aligned_bbox(pcd) + collision_threshold_init = collision_threshold+1 + if bbox['y_max'] >= edge_y_max - collision_threshold_init: + pcd.translate([0, -y_step_big, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, -y_step_big, 0] + T_trans1 = T_transTemp @ T_trans1 + break + if check_collision_all(pcd, last_pcd_processed,collision_threshold_init): + pcd.translate([0, -y_step_big, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, -y_step_big, 0] + T_trans1 = T_transTemp @ T_trans1 + break + pcd.translate([0, y_step_big, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, y_step_big, 0] + T_trans1 = T_transTemp @ T_trans1 + #print("Move2 y_step_big", name) + else: + n = 1 + + x_accu += x_step_big + pcd.translate([x_step_big, 0, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [x_step_big, 0, 0] + T_trans1 = T_transTemp @ T_trans1 + #""" + + """ + can_place_last = False + x_accu = 0 + place_first = True + while True: + bbox = get_axis_aligned_bbox(pcd) + collision_threshold_init = collision_threshold+2 + if bbox['x_min'] <= edge_x_min + collision_threshold_init: + if not can_place_last: + print("fail to place",name) + dict_unplaced[name]=name + else: + pcd.translate([+x_accu, 0, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [+x_accu, 0, 0] + T_trans1 = T_transTemp @ T_trans1 + place_first = True + print("place_first True") + break + can_break = False + if not check_collision_all(pcd, last_pcd_processed,collision_threshold_init): + can_place_last = True + x_accu = 0 + while True: + bbox = get_axis_aligned_bbox(pcd) + collision_threshold_init = collision_threshold+1 + if bbox['y_max'] >= edge_y_max - collision_threshold_init: + pcd.translate([0, -y_step_big, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, -y_step_big, 0] + T_trans1 = T_transTemp @ T_trans1 + can_break = True + break + if check_collision_all(pcd, last_pcd_processed,collision_threshold_init): + pcd.translate([0, -y_step_big, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, -y_step_big, 0] + T_trans1 = T_transTemp @ T_trans1 + if place_first: + can_break = True + break + pcd.translate([0, y_step_big, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [0, y_step_big, 0] + T_trans1 = T_transTemp @ T_trans1 + #print("Move2 y_step_big", name) + else: + n = 1 + + if can_break: + break + + x_accu += x_step_big + pcd.translate([-x_step_big, 0, 0]) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [-x_step_big, 0, 0] + T_trans1 = T_transTemp @ T_trans1 + #""" + + last_pcd_processed.append(pcd) + """ + print("is_x_top",is_x_top) + if not is_x_top: + last_pcd_processed.append(pcd) + print("last_pcd_processed.append",name) + else: + print("fail last_pcd_processed.append",name, is_x_top) + """ + # o3d.io.write_point_cloud(os.path.join(output_dir, name), pcd) + + dict_total_matrix[obj_name]= T_trans1 @ dict_total_matrix[obj_name] + +def move_to_top_left(pcd, edge_x_min, edge_y_max): + points = np.asarray(pcd.points) + min_x = np.min(points[:, 0]) + max_y = np.max(points[:, 1]) # 当前最大y值 + + tx = edge_x_min - min_x + # ty = -max_y - 0.001 + ty = edge_y_max - max_y + + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [tx, ty, 0] + + pcd.translate((tx, ty, 0), relative=True) + + return T_transTemp + +def move_to_bottom_left(pcd, edge_x_min, edge_y_min): + + points = np.asarray(pcd.points) + min_x = np.min(points[:, 0]) + min_y = np.min(points[:, 1]) + tx = edge_x_min - min_x + ty = edge_y_min - min_y + pcd.translate((tx, ty, 0), relative=True) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [tx, ty, 0] + + return T_transTemp + +def move_to_bottom_right(pcd, edge_x_max, edge_y_min): + + points = np.asarray(pcd.points) + max_x = np.min(points[:, 0]) + min_y = np.min(points[:, 1]) + tx = edge_x_max - max_x + ty = edge_y_min - min_y + pcd.translate((tx, ty, 0), relative=True) + T_transTemp = np.eye(4) + T_transTemp[:3, 3] = [tx, ty, 0] + + return T_transTemp + +def get_axis_aligned_bbox(pcd): + points = np.asarray(pcd.points) + return { + 'x_min': np.min(points[:,0]), + 'x_max': np.max(points[:,0]), + 'y_min': np.min(points[:,1]), + 'y_max': np.max(points[:,1]), + 'z_min': np.min(points[:,2]), + 'z_max': np.max(points[:,2]) + } + +def down_obj_data_to_ply(weight_fix_out_obj_dir,weight_fix_out_ply_dir): + """""" + obj_file_list = [aa for aa in os.listdir(weight_fix_out_obj_dir) if aa.endswith(".obj")] + for obj_name in obj_file_list: + obj_path = os.path.join(weight_fix_out_obj_dir,obj_name) + + mesh_obj = read_mesh(obj_path) + + vertices = np.asarray(mesh_obj.vertices) + pcd = o3d.geometry.PointCloud() + pcd.points = o3d.utility.Vector3dVector(vertices) + voxel_size = 3 # 设置体素的大小，决定下采样的密度 + pcd_downsampled = down_sample(pcd, voxel_size) + ply_out_path = os.path.join(weight_fix_out_ply_dir,obj_name.replace(".obj",".ply")) + o3d.io.write_point_cloud(ply_out_path, pcd_downsampled) + print(ply_out_path,"下采样完成。") + +def compute_centroid_compact(pcd): + points = np.asarray(pcd.points) + centroid = np.mean(points, axis=0) + return centroid + +def compute_base_point(pcd): + points = np.asarray(pcd.points) + x_center = np.mean(points[:, 0]) + y_center = np.mean(points[:, 1]) + min_z = np.min(points[:, 2]) + return np.array([x_center, y_center, min_z]) + +import copy +def move_obj_to_compact_bounds(bounds_fix_out_dir,bounds_compact_out_dir,weight_fix_out_obj_dir,base_original_obj_dir,compact_obj_out_dir,dict_mesh_obj,dict_unplaced,placed_remove_dir,dict_bad,bad_dir,full_dir,dict_bounds_fix,dict_compact,dict_origin): + """""" + # obj_file_list = [aa for aa in os.listdir(weight_fix_out_obj_dir) if aa.endswith(".obj")] + obj_file_list = list(dict_mesh_obj.keys()) + ply_path_dict = {} + + # meshes = [] + # for ply_file_name in os.listdir(bounds_fix_out_dir): + for ply_file_name in dict_bounds_fix: + ply_dict_key = ply_file_name.split("=")[0] + ply_path_dict[ply_dict_key] = ply_file_name + for obj_name in obj_file_list: + obj_path = os.path.join(weight_fix_out_obj_dir, obj_name) + + # mesh_obj = read_mesh(obj_path, False) + mesh_obj = dict_mesh_obj[obj_name] + # mesh_obj = dict_origin[obj_origin_path] + + original_obj_pid_dir = base_original_obj_dir + obj_origin_path = os.path.join(original_obj_pid_dir, obj_name) + obj_origin = dict_origin[obj_origin_path] + # obj_origin = copy.deepcopy(dict_origin[obj_origin_path]) + + ply_name_pid = obj_name.replace(".obj","") + # ply_name = ply_path_dict[ply_name_pid] + ply_name = ply_path_dict.get(ply_name_pid,None) + print(ply_name_pid,ply_name) + if ply_name is None: + continue + print("move_obj_to_compact_bounds",ply_name,len(dict_unplaced)) + if not ply_name or ply_name in dict_unplaced: + print("unplaced",ply_name) + continue + ply_fix_path = os.path.join(bounds_fix_out_dir,ply_name) + ply_compact_path = os.path.join(bounds_compact_out_dir, ply_name) + # pcd_fix = o3d.io.read_point_cloud(ply_fix_path) + pcd_fix = dict_bounds_fix[ply_name] + + vertices = np.asarray(obj_origin.vertices) + pcd_origin = o3d.geometry.PointCloud() + pcd_origin.points = o3d.utility.Vector3dVector(vertices) + + # pcd_compact = o3d.io.read_point_cloud(ply_compact_path) + pcd_compact = dict_compact[ply_name] + + centroid_fix = compute_centroid_compact(pcd_fix) + centroid_compact = compute_centroid_compact(pcd_compact) + centroid_origin = compute_centroid_compact(pcd_origin) + displacement = centroid_compact - centroid_fix + # displacement = centroid_compact - centroid_origin + vertices = np.asarray(mesh_obj.vertices) + vertices_translated = vertices + displacement # 将位移应用到每个顶点 + mesh_obj.vertices = o3d.utility.Vector3dVector(vertices_translated) # 更新网格顶点 + + obj_pid = obj_name.split("_P")[0] + #compact_obj_pid_out_dir = os.path.join(compact_obj_out_dir,obj_pid) + compact_obj_pid_out_dir= compact_obj_out_dir + if not os.path.exists(compact_obj_pid_out_dir): + os.makedirs(compact_obj_pid_out_dir) + obj_path_compact = os.path.join(compact_obj_pid_out_dir,obj_name) + mesh_obj.compute_vertex_normals() + o3d.io.write_triangle_mesh(obj_path_compact, mesh_obj,write_triangle_uvs=True) + print(obj_path_compact, "移动后obj保存完成", displacement) + + # meshes.append(mesh_obj) + + #original_obj_pid_dir = os.path.join(base_original_obj_dir,obj_pid) + original_obj_pid_dir = base_original_obj_dir + for mtl in os.listdir(compact_obj_pid_out_dir): + if mtl.endswith(".mtl"): + if obj_pid in mtl: + mtl_path = os.path.join(compact_obj_pid_out_dir,mtl) + os.remove(mtl_path) + + mtl_name = None + tex_name = None + for file_name in os.listdir(original_obj_pid_dir): + if file_name.endswith(".mtl"): + if obj_pid in file_name: + mtl_name = file_name + if file_name.endswith(".jpg"): + if obj_pid in file_name: + tex_name = file_name + if file_name.endswith(".png"): + if obj_pid in file_name: + tex_name = file_name + + for file in os.listdir(original_obj_pid_dir): + #print(f"file{file}") + if file.endswith(".obj"): + continue + if obj_pid not in file: + continue + + origin_path = os.path.join(original_obj_pid_dir,file) + dis_path = os.path.join(compact_obj_pid_out_dir,file) + + if os.path.isfile(origin_path): + #print(f'origin_path{origin_path}') + #print(f'dis_path{dis_path}') + shutil.copy(origin_path,dis_path) + time.sleep(1) + #print("-"*50) + base_origin_obj_path = os.path.join(original_obj_pid_dir,obj_name) + #print(f"base_origin_obj_path{base_origin_obj_path}") + #print(f"obj_path_compact{obj_path_compact}") + update_obj_file(base_origin_obj_path, obj_path_compact) + + placed_remove_obj_path = os.path.join(placed_remove_dir, obj_name) + shutil.copy(base_origin_obj_path,placed_remove_obj_path) + os.remove(base_origin_obj_path) + + exist_obj_any = False + exist_obj = False + delete_mtl = False + for file_name in os.listdir(original_obj_pid_dir): + if file_name.endswith(".obj"): + if obj_pid in file_name: + exist_obj = True + exist_obj_any = True + + if not exist_obj_any: + delete_mtl = True + if not exist_obj: + delete_mtl = True + + if delete_mtl: + print("delete_mtl",mtl_name,tex_name) + if mtl_name!=None: + base_origin_mtl_path = os.path.join(original_obj_pid_dir,mtl_name) + placed_remove_mtl_path = os.path.join(placed_remove_dir, mtl_name) + shutil.copy(base_origin_mtl_path,placed_remove_mtl_path) + os.remove(base_origin_mtl_path) + + if tex_name!=None: + base_origin_tex_path = os.path.join(original_obj_pid_dir,tex_name) + placed_remove_tex_path = os.path.join(placed_remove_dir, tex_name) + shutil.copy(base_origin_tex_path,placed_remove_tex_path) + os.remove(base_origin_tex_path) + + print(f"排版错误模型数量：：{len(dict_bad)}") + for obj_name in dict_bad: + print("--错误模型名：", obj_name) + process_obj_files(original_obj_pid_dir,bad_dir,obj_name) + + print(f"排版剩余模型数量：：{len(dict_unplaced)}") + for ply_file_name in dict_unplaced: + obj_name = ply_file_name.split("=")[0]+".obj" + print("--剩余模型名：", obj_name) + process_obj_files(original_obj_pid_dir,full_dir,obj_name) + +import json + +def extract_angles(R): + # 提取绕X、Y、Z轴的旋转角度（弧度） + rx_rad = np.arctan2(R[2, 1], R[2, 2]) # X轴旋转 + ry_rad = np.arcsin(-R[2, 0]) # Y轴旋转 + rz_rad = np.arctan2(R[1, 0], R[0, 0]) # Z轴旋转 + + # 将弧度转换为角度（度数） + rx_deg = np.degrees(rx_rad) + ry_deg = np.degrees(ry_rad) + rz_deg = np.degrees(rz_rad) + + return rx_deg, ry_deg, rz_deg + +def compute_mesh_center(vertices): + """ + 计算网格质心 + + 参数: + vertices: 顶点坐标数组，形状为(N, 3)的NumPy数组或列表 + + 返回: + centroid: 质心坐标的NumPy数组 [x, y, z] + """ + if len(vertices) == 0: + raise ValueError("顶点数组不能为空") + + n = len(vertices) # 顶点数量 + # 初始化坐标累加器 + sum_x, sum_y, sum_z = 0.0, 0.0, 0.0 + + # 遍历所有顶点累加坐标值 + for vertex in vertices: + sum_x += vertex[0] + sum_y += vertex[1] + sum_z += vertex[2] + + # 计算各坐标轴的平均值 + centroid = np.array([sum_x / n, sum_y / n, sum_z / n]) + return centroid + +import re +def extract_numbers_from_filename(filename): + """ + 从文件名中提取893333, 338908, 105043和x后面的数字 + """ + # 提取前两个下划线前的数字 + first_part = re.findall(r'^(\d+)_(\d+)', filename) + if first_part: + num1, num2 = first_part[0] + else: + num1, num2 = None, None + + # 提取P后面的数字 + p_number = re.findall(r'P(\d+)', filename) + num3 = p_number[0] if p_number else None + + # 提取x后面的数字 + x_number = re.findall(r'x(\d+)', filename) + num4 = x_number[0] if x_number else None + + return [num for num in [num1, num2, num3, num4] if num is not None] + +import requests +def move_obj_to_compact_bounds_json(base_original_obj_dir,dict_mesh_obj,dict_unplaced,dict_bad,bad_dir,full_dir,dict_bounds_fix, + dict_total_matrix,save_mesh,batch_id, print_start_time,selected_machine,selected_mode,version): + """生成3D打印布局的JSON数据并保存为3DPrintLayout.json""" + # 创建符合3DPrintLayout规范的JSON数据结构 + layout_data = { + "summary": { + "version": version, + "homo_matrix": "Homogeneous Matrix", + "precision": 6, + "selected_machine": selected_machine, + "selected_mode": selected_mode + }, + "models": [] + } + + send_layout_data={ + "data": [], + "pre_complate_time": 0.0, + "pre_batch_id": batch_id, + "type_setting_start_time": print_start_time + } + + print("is_test=", is_test) + print(f"need_upload_result={need_upload_result()}") + # if need_upload_result(): + if is_test: + is_send_layout_data = False + else: + is_send_layout_data = True + # is_send_layout_data = False + + obj_file_list = list(dict_mesh_obj.keys()) + ply_path_dict = {} + + original_obj_pid_dir = base_original_obj_dir + + # 构建PLY文件路径映射 + for ply_file_name in dict_bounds_fix: + ply_dict_key = ply_file_name.split("=")[0] + ply_path_dict[ply_dict_key] = ply_file_name + + for obj_name in obj_file_list: + ply_name_pid = obj_name.replace(".obj", "") + ply_name = ply_path_dict.get(ply_name_pid, None) + + if is_send_layout_data: + result = extract_numbers_from_filename(ply_name) + + if not ply_name or ply_name in dict_unplaced: + + if is_send_layout_data: + print_id = result[2] + order_id = result[0] + status = 0 + pid = result[1] + counts = result[3] + send_layout_data["data"].append({ + "print_id": print_id, + "order_id": order_id, + "status": status, + "pid":pid, + "counts":counts}) + + continue # 跳过未放置的模型 + + total_matrix = dict_total_matrix[obj_name] + + flattened = total_matrix.flatten()[:16] + + matrix_4x4 = [ + [round(flattened[i], 6) for i in range(0, 4)], # 第1行 + [round(flattened[i], 6) for i in range(4, 8)], # 第2行 + [round(flattened[i], 6) for i in range(8, 12)], # 第3行 + [round(flattened[i], 6) for i in range(12, 16)] # 第4行 + ] + + layout_data["models"].append({ + "file_name": obj_name, + "transform": { + "homo_matrix": matrix_4x4 + } + }) + + if is_send_layout_data: + print_id = result[2] + order_id = result[0] + status = 1 + pid = result[1] + counts = result[3] + send_layout_data["data"].append({ + "print_id": print_id, + "order_id": order_id, + "status": status, + "pid":pid, + "counts":counts}) + + # 保存JSON文件 + # json_path = os.path.join(base_original_obj_dir, "3DPrintLayout.json") + json_path = os.path.join(base_original_obj_dir, f"{batch_id}.json") + + import re + json_str = json.dumps(layout_data, ensure_ascii=False, indent=2) + json_str = re.sub( + r'\[\s*(-?[\d.]+),\s+(-?[\d.]+),\s+(-?[\d.]+),\s+(-?[\d.]+)\s*\]', + r'[\1,\2,\3,\4]', + json_str + ) + with open(json_path, "w", encoding='utf-8') as f: + f.write(json_str) + + print(f"3D打印布局已保存至: {json_path}") + + print(f"排版错误模型数量：：{len(dict_bad)}") + for obj_name in dict_bad: + print("--错误模型名：", obj_name) + process_obj_files(original_obj_pid_dir,bad_dir,obj_name) + + print(f"排版剩余模型数量：：{len(dict_unplaced)}") + for ply_file_name in dict_unplaced: + obj_name = ply_file_name.split("=")[0]+".obj" + print("--剩余模型名：", obj_name) + process_obj_files(original_obj_pid_dir,full_dir,obj_name) + + if save_mesh: + cache_type_setting_dir=f"{base_original_obj_dir}/arrange" + transform_save_o3d(layout_data, original_obj_pid_dir, cache_type_setting_dir) + + return send_layout_data + +def process_obj_files(original_obj_pid_dir,placed_remove_dir,obj_name): + """ + 处理OBJ文件及其相关资源文件的复制、更新和清理 + + 参数: + original_obj_pid_dir: 包含原始OBJ文件的目录 + placed_remove_dir: 用于存放移除文件的目录 + obj_name: 要处理的OBJ文件名 + """ + + base_origin_obj_path = os.path.join(original_obj_pid_dir,obj_name) + + # 从obj_name中提取PID（产品ID） + obj_pid = obj_name.split("_P")[0] + + # 查找相关的MTL和纹理文件 + mtl_name = None + tex_name = None + + for file_name in os.listdir(original_obj_pid_dir): + + if file_name.endswith(".mtl") and obj_pid in file_name: + mtl_name = file_name + + if (file_name.endswith(".jpg") or file_name.endswith(".png")) and obj_pid in file_name: + tex_name = file_name + + # 将原始OBJ文件移动到移除目录 + placed_remove_obj_path = os.path.join(placed_remove_dir, obj_name) + shutil.copy(base_origin_obj_path, placed_remove_obj_path) + os.remove(base_origin_obj_path) + + # 检查目录中是否还有其他OBJ文件 + exist_obj_any = False + exist_obj = False + + for file_name in os.listdir(original_obj_pid_dir): + if file_name.endswith(".obj"): + exist_obj_any = True + if obj_pid in file_name: + exist_obj = True + + # 确定是否需要删除MTL和纹理文件 + delete_mtl = not exist_obj_any or not exist_obj + + # 如果确定要删除，移动MTL和纹理文件 + if delete_mtl: + if mtl_name: + base_origin_mtl_path = os.path.join(original_obj_pid_dir, mtl_name) + placed_remove_mtl_path = os.path.join(placed_remove_dir, mtl_name) + shutil.copy(base_origin_mtl_path, placed_remove_mtl_path) + os.remove(base_origin_mtl_path) + + if tex_name: + base_origin_tex_path = os.path.join(original_obj_pid_dir, tex_name) + placed_remove_tex_path = os.path.join(placed_remove_dir, tex_name) + shutil.copy(base_origin_tex_path, placed_remove_tex_path) + os.remove(base_origin_tex_path) + +def update_obj_file(original_obj_path,compact_obj_path): + """""" + with open(original_obj_path, "r") as f: + lines_original = f.readlines() + mtllib_name = None + mat_name = None + for line in lines_original: + if line.startswith("mtllib"): + mtllib_name = line.split(" ")[1] + elif line.startswith("usemtl"): + mat_name = line.split(" ")[1] + if mtllib_name and mat_name: + break + with open(compact_obj_path, "r") as f: + lines = f.readlines() + new_lines = [] + for line2 in lines: + if line2.startswith("mtllib"): + line2 = f"mtllib {mtllib_name}\n" # 替换为原始 MTL 文件路径 + elif line2.startswith("usemtl"): + line2 = f"usemtl {mat_name}\n" # 替换为原始贴图路径 + new_lines.append(line2) + with open(compact_obj_path, "w") as f: + f.writelines(new_lines) + +def pass_for_min_dis(placed_models, dict_unplaced, dict_bounds_fix): + + pcd_all = [] + name_list = [] + model_list = [] + + for model in placed_models: + # pcd = o3d.io.read_point_cloud(ply_origin_path) + pcd = dict_bounds_fix[model['name']] + pcd_all.append(pcd) + name_list.append(model['name']) + model_list.append(model) + + for idx, pcd in enumerate(pcd_all): + y = model_list[idx]['position'][1] + dx = model_list[idx]['dimensions'][0] + dy = model_list[idx]['dimensions'][1] + # print("pass_for_min_dis", name_list[idx], y, dy) + + delta_y = 20 + # safe_y = y - delta_y + safe_y = y - dy - delta_y + min_y = 0 + if safe_y < min_y: + name = name_list[idx] + print("fail to place (x=0)", name_list[idx], y, dy) + dict_unplaced[name]=name + +if __name__ == '__main__': + out_dir = "/data/datasets_20t/type_setting_test_data/" + weight_fix_out_obj_dir = f"{out_dir}/print_weight_fix_data_obj" + weight_fix_out_ply_dir = f"{out_dir}/data/datasets_20t/type_ssetting_test_data/print_weight_fix_data_ply" + + base_original_obj_dir=f"{print_factory_type_dir}/8/" + if not os.path.exists(weight_fix_out_ply_dir): + os.makedirs(weight_fix_out_ply_dir) + bounds_fix_out_dir = f"{out_dir}/print_bounds_fix_data" + bounds_compact_out_dir = f"{out_dir}/print_bounds_compact_data" + compact_obj_out_dir = f"{out_dir}//print_compact_obj" + if not os.path.exists(bounds_fix_out_dir): + os.mkdir(bounds_fix_out_dir) + if not os.path.exists(bounds_compact_out_dir): + os.makedirs(bounds_compact_out_dir) + if not os.path.exists(compact_obj_out_dir): + os.makedirs(compact_obj_out_dir) + + move_obj_to_compact_bounds(bounds_fix_out_dir,bounds_compact_out_dir,weight_fix_out_obj_dir,base_original_obj_dir,compact_obj_out_dir) \ No newline at end of file diff --git a/print_factory_type_setting_obj_run.py b/print_factory_type_setting_obj_run.py index 9e415bc..3bfd037 100644 --- a/print_factory_type_setting_obj_run.py +++ b/print_factory_type_setting_obj_run.py @@ -7,12 +7,21 @@ import argparse script_dir = os.path.dirname(os.path.abspath(__file__)) sys.path.insert(0, script_dir) -from print_show_weight_max_obj import make_bbox_for_print,copy_obj_2x -from print_mplot3d_point_cloud_layout import * -from print_merged_many_obj import move_compact_obj_to_file +from print_show_weight_max_obj import copy_obj_2x +from point_cloud_layout import * from test_load_json import load_show_save from download_print import upload_result +from config import print_factory_type_dir +from config import is_test +from config import url_send_layout +from config import big_machine_size +from config import small_machine_size + +from general import need_upload_result + +from point_cloud_layout import make_bbox_for_print + def get_base_directory(): """获取脚本或可执行文件的基础目录""" if getattr(sys, 'frozen', False): @@ -26,116 +35,63 @@ def get_base_directory(): from datetime import datetime import gc -def print_type_setting_obj(base_original_obj_dir=None,cache_type_setting_dir=None,batch_id=0,show_chart=True,selected_mode="标准",output_format="JSON",selected_machine="大机型"): +def print_type_setting_obj(base_original_obj_dir=None,batch_id=0,selected_mode="标准",output_format="JSON",selected_machine="大机型"): print_start_time = datetime.now().strftime("%Y-%m-%d %H:%M:%S") - weight_fix_out_obj_dir = f"{cache_type_setting_dir}/temp/print_weight_fix_data_obj" - weight_fix_out_ply_dir = f"{cache_type_setting_dir}/temp/print_weight_fix_data_ply" - bounds_fix_out_dir = f"{cache_type_setting_dir}/temp/print_bounds_fix_data" - bounds_compact_out_dir = f"{cache_type_setting_dir}/temp/print_bounds_compact_data" - compact_obj_out_dir = f"{cache_type_setting_dir}/temp/print_compact_obj" # 最后的结果 - placed_remove_dir = f"{base_original_obj_dir}/place_remove_dir" # 已经放置的放到这个目录 - # 获取基础目录 base_path = get_base_directory() # 获取父目录 parent_dir = os.path.dirname(base_path) bad_dir = os.path.join(parent_dir, "bad") full_dir = os.path.join(parent_dir, "full") - # print(bad_dir) - # print(full_dir) - - if output_format == "模型": - if os.path.exists(weight_fix_out_obj_dir): - shutil.rmtree(weight_fix_out_obj_dir) - if os.path.exists(weight_fix_out_ply_dir): - shutil.rmtree(weight_fix_out_ply_dir) - if os.path.exists(bounds_fix_out_dir): - shutil.rmtree(bounds_fix_out_dir) - if os.path.exists(bounds_compact_out_dir): - shutil.rmtree(bounds_compact_out_dir) - if os.path.exists(compact_obj_out_dir): - shutil.rmtree(compact_obj_out_dir) - # if os.path.exists(output_folder): # 不需要 - # shutil.rmtree(output_folder) time.sleep(1) - if not os.path.exists(weight_fix_out_obj_dir): - os.makedirs(weight_fix_out_obj_dir) - if not os.path.exists(weight_fix_out_ply_dir): - os.makedirs(weight_fix_out_ply_dir) - if not os.path.exists(bounds_fix_out_dir): - os.mkdir(bounds_fix_out_dir) - if not os.path.exists(bounds_compact_out_dir): - os.makedirs(bounds_compact_out_dir) - if not os.path.exists(compact_obj_out_dir): - os.makedirs(compact_obj_out_dir) - # if not os.path.exists(output_folder): # 不需要 - # os.makedirs(output_folder) print("selected_machine",selected_machine,"selected_mode",selected_mode,"output_format",output_format) compact_min_dis = True - compact_min_dis2 = False if selected_mode=="标准" : compact_min_dis = False - # if output_format=="JSON": - compact_min_dis2 = True else : compact_min_dis = True move_back = True - machine_size = [600, 500, 300] + machine_size = big_machine_size if selected_machine=="小机型": - machine_size[0] = 380 - machine_size[1] = 345 - machine_size[2] = 250 + machine_size = small_machine_size start_time = time.time() copy_obj_2x(base_original_obj_dir) dict_bad = {} - dict_best_angel = {} - dict_fix = {} dict_origin = {} - dict_origin_real = {} - dict_total_matrix= {} - dict_mesh_obj = make_bbox_for_print(base_original_obj_dir, weight_fix_out_obj_dir, weight_fix_out_ply_dir,show_chart,dict_bad, dict_best_angel,dict_fix,dict_origin,dict_origin_real,compact_min_dis or compact_min_dis2,dict_total_matrix) - mesh_count = len(dict_mesh_obj) + + dict_total_matrix, all_models, dict_pcd_fix = make_bbox_for_print(base_original_obj_dir,dict_bad,dict_origin,compact_min_dis) + mesh_count = len(dict_origin) if mesh_count<=0: print("选择的文件夹没有模型") return -1 + end_time1 = time.time() - dict_bounds_fix = {} - placed_models= ply_print_layout_platform(weight_fix_out_obj_dir,weight_fix_out_ply_dir,bounds_fix_out_dir,show_chart,dict_mesh_obj,dict_fix,dict_bounds_fix,machine_size,dict_total_matrix) + + ###以上迁移到部分前置计算 + + dict_pcd_fix2 = {} + list_placed_model = ply_print_layout_platform(dict_pcd_fix,dict_pcd_fix2,machine_size,dict_total_matrix,all_models) + end_time2 = time.time() + dict_unplaced = {} - dict_compact = {} + + dict_mesh_obj = dict_origin if compact_min_dis: - # if output_format=="JSON" : - if True : - can_compact_json = True - if can_compact_json : - compact_mode_for_min_dis1_json(bounds_fix_out_dir,bounds_compact_out_dir,show_chart,move_back,placed_models,dict_unplaced,dict_bounds_fix,dict_compact,machine_size,dict_total_matrix) - else : - pass_for_min_dis(bounds_fix_out_dir, bounds_compact_out_dir,placed_models, dict_unplaced,dict_bounds_fix,dict_compact) - else : - compact_mode_for_min_dis(bounds_fix_out_dir,bounds_compact_out_dir,show_chart,move_back,placed_models,dict_unplaced,dict_bounds_fix,dict_compact,machine_size) + compact_mode_for_min_dis_json(list_placed_model,dict_unplaced,dict_pcd_fix,machine_size,dict_total_matrix) else: - compact_min_dis2 = False - if compact_min_dis2: - compact_mode_for_min_dis2_json(bounds_fix_out_dir,bounds_compact_out_dir,show_chart,move_back,placed_models,dict_unplaced,dict_bounds_fix,dict_compact,machine_size,dict_total_matrix) - else : - pass_for_min_dis(bounds_fix_out_dir, bounds_compact_out_dir,placed_models, dict_unplaced,dict_bounds_fix,dict_compact) + pass_for_min_dis(list_placed_model, dict_unplaced,dict_pcd_fix) end_time3 = time.time() - #if os.path.exists(placed_remove_dir): - # shutil.rmtree(placed_remove_dir) - if not os.path.exists(placed_remove_dir): - os.makedirs(placed_remove_dir) - if not os.path.exists(bad_dir): os.makedirs(bad_dir) @@ -143,23 +99,14 @@ def print_type_setting_obj(base_original_obj_dir=None,cache_type_setting_dir=Non os.makedirs(full_dir) is_small_machine = True if selected_machine=="小机型" else False - use_json = True if output_format=="JSON" else False save_mesh = True if output_format=="模型" else False - # if use_json: version = "print_type_setting25.local" - layout_data, send_layout_data = move_obj_to_compact_bounds_json(bounds_fix_out_dir,bounds_compact_out_dir,weight_fix_out_obj_dir, - base_original_obj_dir,compact_obj_out_dir,dict_mesh_obj,dict_unplaced, - placed_remove_dir,dict_bad,bad_dir,full_dir,dict_best_angel,dict_bounds_fix, - dict_compact,dict_origin,dict_total_matrix,save_mesh,cache_type_setting_dir, - batch_id, print_start_time,selected_machine,selected_mode,version) - - # else: - # move_obj_to_compact_bounds(bounds_fix_out_dir,bounds_compact_out_dir,weight_fix_out_obj_dir,base_original_obj_dir,compact_obj_out_dir,dict_mesh_obj,dict_unplaced,placed_remove_dir,dict_bad,bad_dir,full_dir,dict_bounds_fix,dict_compact,dict_origin) + send_layout_data = move_obj_to_compact_bounds_json(base_original_obj_dir,dict_mesh_obj,dict_unplaced,dict_bad,bad_dir,full_dir,dict_pcd_fix, + dict_total_matrix,save_mesh,batch_id,print_start_time,selected_machine,selected_mode,version) end_time4 = time.time() - #move_compact_obj_to_file(compact_obj_out_dir, output_folder) # 不需要 print("排版完成") end_time = time.time() elapsed_seconds = end_time - start_time @@ -179,26 +126,12 @@ def print_type_setting_obj(base_original_obj_dir=None,cache_type_setting_dir=Non print(f"挪紧凑：：{elapsed_minutes3} 分 / {elapsed_seconds3} 秒") print(f"移动到位置：：{elapsed_minutes4} 分 / {elapsed_seconds4} 秒") - dict_mesh_obj.clear() - del dict_mesh_obj - dict_bad.clear() - del dict_bad - dict_fix.clear() - del dict_fix - dict_bounds_fix.clear() - del dict_bounds_fix - dict_unplaced.clear() - del dict_unplaced - dict_compact.clear() - del dict_compact - gc.collect() - # print(base_original_obj_dir,blank_dir,batch_id) is_screenshot = True if is_screenshot: start_time = time.time() - blank_path = get_blank_path(parent_dir, is_small_machine) + blank_path = get_blank_path(is_small_machine) load_show_save(base_original_obj_dir, dict_origin, blank_path, batch_id) elapsed_seconds5 = time.time() - start_time elapsed_minutes5 = int(elapsed_seconds5 // 60) @@ -210,23 +143,24 @@ def print_type_setting_obj(base_original_obj_dir=None,cache_type_setting_dir=Non is_upload_result = True if is_upload_result: - print(f"执行上传-parent_dir={parent_dir},base_original_obj_dir={base_original_obj_dir},batch_id={batch_id}") + print(f"执行上 传-parent_dir={print_factory_type_dir},base_original_obj_dir={base_original_obj_dir},batch_id={batch_id}") # oss_config = f"{base_original_obj_dir}/../print_factory_type_setting_big/download_print/run.yaml" - oss_config = f"{parent_dir}/print_factory_type_setting_big/download_print/run.yaml" + oss_config = f"{print_factory_type_dir}/print_factory_type_setting_big/download_print/run.yaml" upload_result(base_original_obj_dir, oss_config, batch_id) print(f"is_test={is_test}") + print(f"need_upload_result={need_upload_result()}") + # if need_upload_result(): if is_test : is_send_layout_data = False else : is_send_layout_data = True - # is_send_layout_data = False if is_send_layout_data: print(f"send_layout_data={send_layout_data}") - url = 'https://mp.api.suwa3d.com/api/printTypeSettingOrder/printTypeSettingOrderSuccess' - # url = 'http://127.0.0.1:8199/api/typeSettingPrintOrder/printTypeSettingOrderSuccess' + # url = 'https://mp.api.suwa3d.com/api/printTypeSettingOrder/printTypeSettingOrderSuccess' + url = url_send_layout try: response = requests.post(url, json.dumps(send_layout_data), timeout=30) #写入文件中 log/request.txt @@ -254,38 +188,46 @@ def print_type_setting_obj(base_original_obj_dir=None,cache_type_setting_dir=Non return 0 -def get_blank_path(parent_dir=None, is_small_machine=False): +def get_blank_path(is_small_machine=False): if is_small_machine: - return os.path.join(parent_dir, "blank/blank_bias/blank_small.obj") + return os.path.join(print_factory_type_dir, "blank/blank_bias/blank_small.obj") else: - return os.path.join(parent_dir, "blank/blank_bias/blank2.obj") + return os.path.join(print_factory_type_dir, "blank/blank_bias/blank2.obj") def preview(base_original_obj_dir=None, batch_id=0, is_small_machine=False): base_path = get_base_directory() parent_dir = os.path.dirname(base_path) # blank_dir = os.path.join(parent_dir, "blank", "blank_bias") - blank_path = get_blank_path(parent_dir, is_small_machine) + blank_path = get_blank_path(is_small_machine) load_show_save(base_original_obj_dir, {}, blank_path, batch_id, True) -if __name__ == '__main__': +def get_pcd(obj, is_down_sample=True): + vertices = np.asarray(obj.vertices) + pcd = o3d.geometry.PointCloud() + pcd.points = o3d.utility.Vector3dVector(vertices) + + if is_down_sample: + voxel_size = 3 + pcd_downsampled = down_sample(pcd, voxel_size, False) + return pcd_downsampled + else: + return pcd +if __name__ == '__main__': # parser = argparse.ArgumentParser() # parser.add_argument("--batch_id", type=str, required=True, help="batch_id") # args = parser.parse_args() # batch_id = args.batch_id - batch_id = "9" + batch_id = "1" src_dir = batch_id selected_mode="紧凑" # 标准 紧凑 output_format="JSON" # 模型 JSON selected_machine = "大机型" # 小机型 大机型 - print_factory_type_dir="/root/print_factory_type" - # cache_type_setting_dir=f"/data/datasets_20t/type_setting_test_data/{src_dir}" - cache_type_setting_dir=f"{print_factory_type_dir}/{src_dir}/arrange" base_original_obj_dir = f"{print_factory_type_dir}/{src_dir}" - print_type_setting_obj(base_original_obj_dir=base_original_obj_dir,cache_type_setting_dir=cache_type_setting_dir, - batch_id=batch_id,show_chart=False,selected_mode=selected_mode,output_format=output_format,selected_machine=selected_machine) + print_type_setting_obj(base_original_obj_dir=base_original_obj_dir, + batch_id=batch_id,selected_mode=selected_mode,output_format=output_format,selected_machine=selected_machine) diff --git a/print_factory_type_setting_obj_run_GUI.py b/print_factory_type_setting_obj_run_GUI.py deleted file mode 100644 index d480010..0000000 --- a/print_factory_type_setting_obj_run_GUI.py +++ /dev/null @@ -1,193 +0,0 @@ -import os -import shutil -import time -import sys - -script_dir = os.path.dirname(os.path.abspath(__file__)) -sys.path.insert(0, script_dir) - -from print_show_weight_max_obj import make_bbox_for_print,copy_obj_2x -from print_mplot3d_point_cloud_layout import * -from print_merged_many_obj import move_compact_obj_to_file -from test_load_json import load_and_show - - -def get_base_directory(): - """获取脚本或可执行文件的基础目录""" - if getattr(sys, 'frozen', False): - # 打包后的可执行文件环境 - base_path = os.path.dirname(sys.executable) - else: - # 正常脚本运行环境 - base_path = os.path.dirname(os.path.abspath(__file__)) - return base_path - -from datetime import datetime -def print_type_setting_obj(base_original_obj_dir=None,cache_type_setting_dir=None,show_chart=True,selected_mode="标准",output_format="JSON",selected_machine="大机型"): - - print_start_time = datetime.now().strftime("%Y-%m-%d %H:%M:%S") - weight_fix_out_obj_dir = f"{cache_type_setting_dir}/print_weight_fix_data_obj" - weight_fix_out_ply_dir = f"{cache_type_setting_dir}/print_weight_fix_data_ply" - bounds_fix_out_dir = f"{cache_type_setting_dir}/print_bounds_fix_data" - bounds_compact_out_dir = f"{cache_type_setting_dir}/print_bounds_compact_data" - compact_obj_out_dir = f"{cache_type_setting_dir}/print_compact_obj" # 最后的结果 - placed_remove_dir = f"{base_original_obj_dir}/place_remove_dir" # 已经放置的放到这个目录 - - # 获取基础目录 - base_path = get_base_directory() - # 获取父目录 - parent_dir = os.path.dirname(base_path) - bad_dir = os.path.join(parent_dir, "bad") - full_dir = os.path.join(parent_dir, "full") - blank_dir = os.path.join(parent_dir, "blank") - # print(bad_dir) - # print(full_dir) - - # 测试代码 - """ - selected_machine = "小机型" # 小机型 大机型 - selected_mode="紧凑" # 标准 紧凑 - output_format="模型" # 模型 JSON - """ - - if output_format == "模型": - if os.path.exists(weight_fix_out_obj_dir): - shutil.rmtree(weight_fix_out_obj_dir) - if os.path.exists(weight_fix_out_ply_dir): - shutil.rmtree(weight_fix_out_ply_dir) - if os.path.exists(bounds_fix_out_dir): - shutil.rmtree(bounds_fix_out_dir) - if os.path.exists(bounds_compact_out_dir): - shutil.rmtree(bounds_compact_out_dir) - if os.path.exists(compact_obj_out_dir): - shutil.rmtree(compact_obj_out_dir) - # if os.path.exists(output_folder): # 不需要 - # shutil.rmtree(output_folder) - - time.sleep(1) - if not os.path.exists(weight_fix_out_obj_dir): - os.makedirs(weight_fix_out_obj_dir) - if not os.path.exists(weight_fix_out_ply_dir): - os.makedirs(weight_fix_out_ply_dir) - if not os.path.exists(bounds_fix_out_dir): - os.mkdir(bounds_fix_out_dir) - if not os.path.exists(bounds_compact_out_dir): - os.makedirs(bounds_compact_out_dir) - if not os.path.exists(compact_obj_out_dir): - os.makedirs(compact_obj_out_dir) - # if not os.path.exists(output_folder): # 不需要 - # os.makedirs(output_folder) - - print("selected_machine",selected_machine,"selected_mode",selected_mode,"output_format",output_format) - compact_min_dis = True - compact_min_dis2 = False - if selected_mode=="标准" : - compact_min_dis = False - if output_format=="JSON": - compact_min_dis2 = True - else : - compact_min_dis = True - - move_back = True - - machine_size = [600, 500, 300] - if selected_machine=="小机型": - machine_size[0] = 380 - machine_size[1] = 345 - machine_size[2] = 250 - - start_time = time.time() - copy_obj_2x(base_original_obj_dir) - dict_bad = {} - dict_best_angel = {} - dict_fix = {} - dict_origin = {} - dict_total_matrix= {} - dict_mesh_obj = make_bbox_for_print(base_original_obj_dir, weight_fix_out_obj_dir, weight_fix_out_ply_dir,show_chart,dict_bad, dict_best_angel,dict_fix,dict_origin,compact_min_dis or compact_min_dis2,dict_total_matrix) - mesh_count = len(dict_mesh_obj) - if mesh_count<=0: - print("选择的文件夹没有模型") - return -1 - end_time1 = time.time() - dict_bounds_fix = {} - placed_models= ply_print_layout_platform(weight_fix_out_obj_dir,weight_fix_out_ply_dir,bounds_fix_out_dir,show_chart,dict_mesh_obj,dict_fix,dict_bounds_fix,machine_size,dict_total_matrix) - end_time2 = time.time() - dict_unplaced = {} - dict_compact = {} - - if compact_min_dis: - if output_format=="JSON" : - can_compact_json = True - if can_compact_json : - compact_mode_for_min_dis1_json(bounds_fix_out_dir,bounds_compact_out_dir,show_chart,move_back,placed_models,dict_unplaced,dict_bounds_fix,dict_compact,machine_size,dict_total_matrix) - else : - pass_for_min_dis(bounds_fix_out_dir, bounds_compact_out_dir,placed_models, dict_unplaced,dict_bounds_fix,dict_compact) - else : - compact_mode_for_min_dis(bounds_fix_out_dir,bounds_compact_out_dir,show_chart,move_back,placed_models,dict_unplaced,dict_bounds_fix,dict_compact,machine_size) - else: - if compact_min_dis2: - compact_mode_for_min_dis2_json(bounds_fix_out_dir,bounds_compact_out_dir,show_chart,move_back,placed_models,dict_unplaced,dict_bounds_fix,dict_compact,machine_size,dict_total_matrix) - else : - pass_for_min_dis(bounds_fix_out_dir, bounds_compact_out_dir,placed_models, dict_unplaced,dict_bounds_fix,dict_compact) - - end_time3 = time.time() - - #if os.path.exists(placed_remove_dir): - # shutil.rmtree(placed_remove_dir) - if not os.path.exists(placed_remove_dir): - os.makedirs(placed_remove_dir) - - if not os.path.exists(bad_dir): - os.makedirs(bad_dir) - - if not os.path.exists(full_dir): - os.makedirs(full_dir) - - save_mesh = True if output_format=="模型" else False - # move_obj_to_compact_bounds_json(bounds_fix_out_dir,bounds_compact_out_dir,weight_fix_out_obj_dir,base_original_obj_dir,compact_obj_out_dir,dict_mesh_obj,dict_unplaced,placed_remove_dir,dict_bad,bad_dir,full_dir,dict_best_angel,dict_bounds_fix,dict_compact,save_mesh,dict_origin,dict_total_matrix,print_start_time) - - version = "print_type_setting25.11.21.1" - batch_id = os.path.basename(base_path.rstrip('/')) - move_obj_to_compact_bounds_json(bounds_fix_out_dir,bounds_compact_out_dir,weight_fix_out_obj_dir, - base_original_obj_dir,compact_obj_out_dir,dict_mesh_obj,dict_unplaced, - placed_remove_dir,dict_bad,bad_dir,full_dir,dict_best_angel,dict_bounds_fix, - dict_compact,dict_origin,dict_total_matrix,save_mesh,cache_type_setting_dir, - batch_id, print_start_time,selected_machine,selected_mode,version) - end_time4 = time.time() - #move_compact_obj_to_file(compact_obj_out_dir, output_folder) # 不需要 - print("排版完成") - end_time = time.time() - elapsed_seconds = end_time - start_time - elapsed_seconds1 = end_time1 - start_time # 计算重心 - elapsed_seconds2 = end_time2 - end_time1 # - elapsed_seconds3 = end_time3 - end_time2 - elapsed_seconds4 = end_time4 - end_time3 - elapsed_minutes = int(elapsed_seconds // 60) - elapsed_minutes1 = int(elapsed_seconds1 // 60) - elapsed_minutes2 = int(elapsed_seconds2 // 60) - elapsed_minutes3 = int(elapsed_seconds3 // 60) - elapsed_minutes4 = int(elapsed_seconds4 // 60) - print(f"排版总耗时：：{elapsed_minutes} 分 / {elapsed_seconds} 秒") - print(f"计算重心：：{elapsed_minutes1} 分 / {elapsed_seconds1} 秒") - print(f"排包围盒：：{elapsed_minutes2} 分 / {elapsed_seconds2} 秒") - - print(f"挪紧凑：：{elapsed_minutes3} 分 / {elapsed_seconds3} 秒") - print(f"移动到位置：：{elapsed_minutes4} 分 / {elapsed_seconds4} 秒") - - # load_and_show(base_original_obj_dir,blank_dir) - - return 0 - -def preview(base_original_obj_dir=None): - - base_path = get_base_directory() - parent_dir = os.path.dirname(base_path) - blank_dir = os.path.join(parent_dir, "blank", "blank_bias") - - load_and_show(base_original_obj_dir,blank_dir) - -if __name__ == '__main__': - src_dir = "12-9" # 1 5.6.5 5.6.4 5.6.1 5.9 temp - cache_type_setting_dir=f"/data/datasets_20t/type_setting_test_data/{src_dir}" - base_original_obj_dir = f"{print_factory_type_dir}/{src_dir}" - print_type_setting_obj(base_original_obj_dir=base_original_obj_dir,cache_type_setting_dir=cache_type_setting_dir,show_chart=False) diff --git a/print_merged_many_obj.py b/print_merged_many_obj.py deleted file mode 100644 index 1671fb0..0000000 --- a/print_merged_many_obj.py +++ /dev/null @@ -1,162 +0,0 @@ -import os -import shutil -import time - -def merged_obj_for_group(input_folder,output_folder): - """""" - group_size = 5 - obj_pid_list = os.listdir(input_folder) - group_obj_list = [obj_pid_list[i:i + group_size] for i in range(0, len(obj_pid_list), group_size)] - print(group_obj_list) - for group_obj in group_obj_list: - print(group_obj) - group_pid = "_".join(group_obj) - print(group_pid) - - output_group_folder = os.path.join(output_folder,group_pid) - os.makedirs(output_group_folder, exist_ok=True) - - #input_root_folder = "/data/datasets_20t/obj_merger_test_data/" - #output_folder = "/data/datasets_20t/obj_merger_result/" - output_obj = os.path.join(output_group_folder, f"{group_pid}.obj") - output_mtl = os.path.join(output_group_folder, f"{group_pid}.mtl") - - # 初始化 - merged_obj = [] - merged_mtl = [] - texture_files = set() - material_offset = 0 - vertex_offset = 0 - texture_offset = 0 - normal_offset = 0 - current_materials = {} - - # 遍历每个子文件夹 - for folder_name in group_obj: - folder_path = os.path.join(input_folder, folder_name) - if not os.path.isdir(folder_path): - continue - - obj_file = None - mtl_file = None - texture_file = None - - # 寻找 .obj、.mtl 和 .jpg 文件 - for file_name in os.listdir(folder_path): - if file_name.endswith(".obj"): - obj_file = os.path.join(folder_path, file_name) - elif file_name.endswith(".mtl"): - mtl_file = os.path.join(folder_path, file_name) - elif file_name.endswith(".jpg"): - texture_file = os.path.join(folder_path, file_name) - - # 跳过不完整的文件夹 - if not obj_file or not mtl_file or not texture_file: - print(f"跳过不完整的文件夹：{folder_path}") - continue - - # 读取 .obj 文件 - with open(obj_file, "r") as obj_f: - obj_lines = obj_f.readlines() - - - for line in obj_lines: - if line.startswith("mtllib"): - # 替换材质文件名 - - merged_obj.append(f"mtllib {os.path.basename(output_mtl)}\n") - - elif line.startswith("usemtl"): - # 重命名材质名称，避免冲突 - original_material = line.split()[1] - new_material = f"{original_material}_{material_offset}" - print(f"original_material---{original_material}") - print(f"new_material---{new_material}") - merged_obj.append(f"usemtl {new_material}\n") - current_materials[original_material] = new_material - elif line.startswith("v "): # 顶点 - vertex = line.split()[1:] - merged_obj.append(f"v {' '.join(vertex)}\n") - elif line.startswith("vt "): # 纹理坐标 - texture = line.split()[1:] - merged_obj.append(f"vt {' '.join(texture)}\n") - elif line.startswith("vn "): # 法线 - normal = line.split()[1:] - merged_obj.append(f"vn {' '.join(normal)}\n") - elif line.startswith("f "): # 面数据 - face = line.split()[1:] - updated_face = [] - for vertex in face: - indices = vertex.split("/") - indices = [ - str(int(indices[0]) + vertex_offset) if indices[0] else "", - str(int(indices[1]) + texture_offset) if len(indices) > 1 and indices[1] else "", - str(int(indices[2]) + normal_offset) if len(indices) > 2 and indices[2] else "", - ] - updated_face.append("/".join(indices)) - merged_obj.append(f"f {' '.join(updated_face)}\n") - - # 更新偏移量 - vertex_offset += sum(1 for line in obj_lines if line.startswith("v ")) - texture_offset += sum(1 for line in obj_lines if line.startswith("vt ")) - normal_offset += sum(1 for line in obj_lines if line.startswith("vn ")) - - # 读取 .mtl 文件 - with open(mtl_file, "r") as mtl_f: - mtl_lines = mtl_f.readlines() - - for line in mtl_lines: - if line.startswith("newmtl"): - # 重命名材质 - original_material = line.split()[1] - new_material = current_materials.get(original_material, original_material) - merged_mtl.append(f"newmtl {new_material}\n") - elif line.startswith(("map_Kd", "map_Ka", "map_bump")): - # 替换贴图路径为相对路径 - texture_name = os.path.basename(texture_file) - merged_mtl.append(f"{line.split()[0]} {texture_name}\n") - texture_files.add(texture_file) - else: - merged_mtl.append(line) - - material_offset += 1 - - # 写入合并后的 .obj 和 .mtl 文件 - with open(output_obj, "w") as obj_out: - obj_out.writelines(merged_obj) - - with open(output_mtl, "w") as mtl_out: - mtl_out.writelines(merged_mtl) - print(f"texture_files====={texture_files}") - # 将纹理文件复制到输出目录 - for texture_file in texture_files: - shutil.copy(texture_file, output_group_folder) - - print(f"合并完成：{output_obj} 和 {output_mtl}") - print(f"纹理文件已复制到：{output_group_folder}") - -def move_compact_obj_to_file(input_folder,output_folder): - """""" - group_size = 50 - obj_pid_list = os.listdir(input_folder) - group_obj_list = [obj_pid_list[i:i + group_size] for i in range(0, len(obj_pid_list), group_size)] - print(group_obj_list) - for group_obj in group_obj_list: - print(f"group_obj{group_obj}") - out_obj_file_name = group_obj[0]+"_"+group_obj[-1] - print(f"out_obj_file_name:::{out_obj_file_name}") - group_out_put_dir = os.path.join(output_folder,out_obj_file_name) - os.makedirs(group_out_put_dir,exist_ok=True) - for obj_name in group_obj: - original_obj_dir = os.path.join(input_folder,obj_name) - for file_name in os.listdir(original_obj_dir): - original_path = os.path.join(original_obj_dir,file_name) - dis_path = os.path.join(group_out_put_dir,file_name) - shutil.copy(original_path,dis_path) - print("分组完成。") - -if __name__ == '__main__': - input_folder = "/data/datasets_20t/type_setting_test_data/print_compact_obj/" - output_folder = "/data/datasets_20t/type_setting_test_data/obj_merger_result/" - #merged_obj_for_group(input_folder,output_folder) - move_compact_obj_to_file(input_folder, output_folder) diff --git a/print_mplot3d_point_cloud_layout.py b/print_mplot3d_point_cloud_layout.py deleted file mode 100644 index e4bc2f4..0000000 --- a/print_mplot3d_point_cloud_layout.py +++ /dev/null @@ -1,3619 +0,0 @@ -import os -import json -import requests -import shutil -import time -import random -import matplotlib.pyplot as plt -import open3d as o3d -import numpy as np -from grid_near_three import make_near_dict -#import bpy -from plyfile import PlyData, PlyElement -from test_load_json import custom_mesh_transform -from download_print import is_test - -class Platform: - def __init__(self, width, depth, height): - self.width = width - self.depth = depth - self.height = height - self.placed_models = [] # 已放置的模型 - self.unplaced_models = [] # 未能放置的模型 - self.first_line = True - - #""" - def can_place(self, x, y, z, model): - """检查模型是否可以放置在指定位置""" - mx, my, mz = model['dimensions'] - # 检查是否超出平台边界 - # print("can_place1",x + mx,self.width,y + my,self.depth,z + mz,self.height) - if x + mx > self.width or y + my > self.depth or z + mz > self.height: - return False - # 检查是否与已有模型重叠 - for placed in self.placed_models: - px, py, pz = placed['position'] - pdx, pdy, pdz = placed['dimensions'] - # print("can_place2",px, py, pz, pdx, pdy, pdz) - if not ( - x + mx <= px or px + pdx <= x or - y + my <= py or py + pdy <= y or - z + mz <= pz or pz + pdz <= z - ): - return False - return True - - # 原始使用的 - def place_model(self, model): - """尝试将模型放在底面（Z=0）的一层中""" - mx, my, mz = model['dimensions'] - # 如果模型太高，直接跳过 - if mz > self.height: - print("unplaced_models1", model) - self.unplaced_models.append(model) - return False - z = 0 # 固定只放置在底层 - for y in range(0, self.depth - my + 1): - for x in range(0, self.width - mx + 1): - if self.can_place(x, y, z, model): - model['position'] = (x, y, z) - self.placed_models.append(model) - return True - print("unplaced_models2", model) - self.unplaced_models.append(model) - return False - #""" - - """ - import itertools - - def can_place2(self, position, dimensions, placed_items, container_size): - # 三维AABB碰撞检测优化版[6,8](@ref) - # 边界约束检查 - if any(position[i] + dimensions[i] > container_size[i] for i in range(3)): - return False - - # 空间网格加速检测（参考网页3） - grid_size = 50 # 网格划分粒度 - x_min = position[0] // grid_size - x_max = (position[0] + dimensions[0]) // grid_size - y_min = position[1] // grid_size - y_max = (position[1] + dimensions[1]) // grid_size - - # 获取相关网格内的模型[3](@ref) - related_items = [] - for gx in range(int(x_min), int(x_max)+1): - for gy in range(int(y_min), int(y_max)+1): - related_items.extend([item for item in placed_items - if item['grid_x'] == gx and item['grid_y'] == gy]) - - # 精确AABB检测[6](@ref) - for item in related_items: - item_pos = item['position'] - item_dim = item['dimensions'] - overlap_x = (position[0] < item_pos[0] + item_dim[0]) and (position[0] + dimensions[0] > item_pos[0]) - overlap_y = (position[1] < item_pos[1] + item_dim[1]) and (position[1] + dimensions[1] > item_pos[1]) - overlap_z = (position[2] < item_pos[2] + item_dim[2]) and (position[2] + dimensions[2] > item_pos[2]) - if overlap_x and overlap_y and overlap_z: - return False - return True - - def place_model2(self, models, container_size): - # 优化后的装箱主函数[2,5](@ref) - placed = [] - unplaced = [] - grid_size = 50 # 与can_place中保持一致 - - print(type(models[0]['dimensions'])) # 预期输出： - - # 按体积降序排序[5](@ref) - sorted_models = sorted(models, - key=lambda m: m['dimensions'][0]*m['dimensions'][1]*m['dimensions'][2], - reverse=True) - - # 支持6种旋转方向[2](@ref) - rotations = [ - (0,1,2), (0,2,1), (1,0,2), - (1,2,0), (2,0,1), (2,1,0) - ] - - for model in sorted_models: - placed_flag = False - original_dim = model['dimensions'] - - # 尝试所有旋转方向 - for rot in rotations: - rotated_dim = [original_dim[rot[0]], original_dim[rot[1]], original_dim[rot[2]]] - if rotated_dim[2] > container_size[2]: - continue # 跳过高度超标 - - # 优化搜索顺序：从右向左，从下向上[3](@ref) - for y in range(container_size[1] - rotated_dim[1], -1, -1): - for x in range(container_size[0] - rotated_dim[0], -1, -1): - if self.can_place((x,y,0), rotated_dim, placed, container_size): - # 记录网格位置 - model['grid_x'] = x // grid_size - model['grid_y'] = y // grid_size - model['position'] = (x, y, 0) - model['dimensions'] = rotated_dim - placed.append(model) - placed_flag = True - break - if placed_flag: break - if placed_flag: break - - if not placed_flag: - unplaced.append(model) - - return placed, unplaced - #""" - #""" - def can_place3(self, x, y, z, model, is_print=False): - mx, my, mz = model['dimensions'] - - """ - # 边界检查（增加扩展间距） - if (x + mx > self.width or - y + my > self.depth or - z + mz > self.height or - y<=0): - print("can_place3",False) - return False - """ - #print("placed1",x,mx,y,my) - # 边界检查（增加扩展间距） - extend_dist = 4 - if (x - mx < 0 or - y - my < 0 or - z + mz > self.height or - y>=self.depth - extend_dist): - # print("can_place3 1",False, x, mx, y, my, z, mz, self.height) - return False - - # 碰撞检测（正确逻辑与间距处理） - extend_dist_x = 4 # 与place_model3中的扩展距离一致 - extend_dist_y = 2 # 与place_model3中的扩展距离一致 - for placed in self.placed_models: - px, py, pz = placed['position'] - pdx, pdy, pdz = placed['dimensions'] - - """ - # 使用AABB碰撞检测算法[4](@ref) - if (x < px + pdx + extend_dist_x and - x + mx + extend_dist_x > px and - y < py + pdy + extend_dist_y and - y + my + extend_dist_y > py and - z < pz + pdz and - z + mz > pz): - print("can_place3",False) - return False - #""" - - # if is_print: - # print("can_place3",y,py,my,pdy,extend_dist_y) - - #""" - # print("placed2",x,px,pdx,extend_dist_x,mx,self.width) - # 使用AABB碰撞检测算法[4](@ref) - if (x > px - pdx - extend_dist_x and - x - mx - extend_dist_x < px and - y > py - pdy - extend_dist_y and - y - my - extend_dist_y < py and - z < pz + pdz and - z + mz > pz): - # print("can_place3 2",False,model,x,y,z,px,pdx,extend_dist_x,py,pdy,extend_dist_y,my,pz,pdz,pz) - return False - #""" - - # print("can_place3",True) - return True - - def place_model3(self, model, pre_model): - mx, my, mz = model['dimensions'] - if mz > self.height: - self.unplaced_models.append(model) - return False - - z = 0 - extend_dist = 4 - - if pre_model is None: - if self.first_line: - model['position'] = (mx+extend_dist, self.depth - extend_dist, 0) - print(f"First Model {model['name']}") - model['first_line'] = True - else: - model['position'] = (self.width - extend_dist, self.depth - extend_dist, 0) - model['first_line'] = False - - # print("model position1", model['name'], model['position']) - self.placed_models.append(model) - return True - - pre_px, pre_py, pre_pz = pre_model['position'] - pre_mx, pre_my, pre_mz = pre_model['dimensions'] - if self.first_line: - px = pre_px + mx + extend_dist - model['first_line'] = True - else: - px = pre_px - pre_mx - extend_dist - model['first_line'] = False - print(model['name'], "px", px, pre_px, pre_mx) - - """ - if px + mx > self.width: - px = 0 - start_y = self.depth - my - extend_dist - for y in range(start_y, -1, -1): - if self.can_place3(px, y, z, model)==False: - y -= 1 - model['position'] = (px, y, z) - self.placed_models.append(model) - return True - else: - start_y = self.depth - my - extend_dist - for y in range(start_y, -1, -1): - if self.can_place3(px, y, z, model)==False: - y -= 1 - model['position'] = (px, y, z) - self.placed_models.append(model) - return True - """ - reach_limit_x = False - if self.first_line: - if px > self.width: - reach_limit_x = True - else: - if px - mx < 0: - reach_limit_x = True - - if reach_limit_x: - self.first_line = False - px = self.width - extend_dist - # final_y = self.depth - my - extend_dist - final_y = self.depth - print("reach_limit_x final_y1", my, final_y, my, extend_dist, px) - for y in range(my, final_y, +1): - # print("y",y) - if self.can_place3(px, y, z, model, True)==False: - y -= 1 - model['position'] = (px, y, z) - # print("model position2", model['name'], model['position']) - self.placed_models.append(model) - return True - else: - start_y = my + extend_dist - # final_y = self.depth - my - extend_dist - final_y = self.depth - # print("final_y2", start_y, final_y, my, extend_dist, px) - for y in range(start_y, final_y, +1): - if self.can_place3(px, y, z, model)==False: - y -= 1 - model['position'] = (px, y, z) - # print("model position2", model['name'], model['position']) - self.placed_models.append(model) - return True - - # print("model position3", model['name'], model['position']) - self.unplaced_models.append(model) - return False - #""" - def arrange_models(self, models): - # 小打印机380*345, 大打印机600*500*300 - delta = 10 - """ - x_max = -380 + delta - y_max = -345 + delta - """ - # x_length = 500 - delta - # y_length = 300 - delta - """对所有模型进行排布（单层）""" - print("⚠️ 单层放置模式：所有模型只能放在平台底面（Z=0）") - # 按高度和面积排序，优先放大模型 - models = sorted(models, key=lambda m: (-m['dimensions'][2], -m['dimensions'][0] * m['dimensions'][1])) - pre_model = None - for model in models: - # self.place_model(model) - # self.place_model2(model, container) - if self.place_model3(model, pre_model): - pre_model = model - print("arrange_models", model['name']) - - def print_results(self): - """打印排布结果""" - print("Placed Models:") - for model in self.placed_models: - print(f" - {model['name']} at {model['position']} with dimensions {model['dimensions']}") - print("Unplaced Models:") - for model in self.unplaced_models: - print(f" - {model['name']} with dimensions {model['dimensions']}") - - def get_result(self): - return self.placed_models, self.unplaced_models - - def visualize(self): - """可视化排布结果""" - fig = plt.figure() - ax = fig.add_subplot(111, projection='3d') - ax.set_title("3D Printing Layout (Single Layer)") - ax.set_xlabel("X (Width)") - ax.set_ylabel("Y (Depth)") - ax.set_zlabel("Z (Height)") - - # 绘制平台边界 - ax.bar3d(0, 0, 0, self.width, self.depth, self.height, color='lightgray', alpha=0.1, edgecolor='black') - - # 绘制已放置的模型 - colors = ['b', 'g', 'r', 'c', 'm', 'y'] - for i, model in enumerate(self.placed_models): - x, y, z = model['position'] - dx, dy, dz = model['dimensions'] - color = colors[i % len(colors)] - ax.bar3d(x, y, z, dx, dy, dz, color=color, alpha=0.3, edgecolor='k') - ax.text(x + dx / 2, y + dy / 2, z + dz / 2, model['name'], color='black', fontsize=8, ha='center') - - ax.set_xlim(0, self.width) - ax.set_ylim(0, self.depth) - ax.set_zlim(0, self.height) - plt.show() - -def get_models_box_size(weight_fix_out_dir,show_chart,dict_fix,machine_size): - """获取排版的盒子大小""" - models = [] - # for ply_file in os.listdir(weight_fix_out_dir): - for ply_file in dict_fix: - # print("get_models_box_size", ply_file) - #print(ply_file.split("_")) - bbox_with_text = ply_file.split("=") - bbox_with = bbox_with_text[-1] - #print("盒子大小",bbox_with) - #time.sleep(1000) - split_text = bbox_with.replace(".ply","").split("+") - ply_pid = bbox_with_text[0] - extend_dist = 2 - x_length = int(float(split_text[2])*100) + extend_dist - y_length = int(float(split_text[0])*100) + extend_dist - z_length = int(float(split_text[1])*100) + extend_dist - #print("get_models_box_size",x_length,y_length,z_length) - models.append({'name':ply_file,'dimensions':(int(x_length/100),int(z_length/100),int(y_length/100))}) - #print(models) - # platform = Platform(int(38500 / 100), int(34000 / 100), int(25000 / 100)) - # platform = Platform(int(60000 / 100), int(50000 / 100), int(30000 / 100)) - platform = Platform(int(machine_size[0]), int(machine_size[1]), int(machine_size[2])) - print("开始计算排序...") - platform.arrange_models(models) - platform.print_results() - if show_chart: - platform.visualize() - return platform.get_result() - -def make_merged_pcd(): - # 创建 XY, XZ 和 YZ 平面的点云 - width = 1000 # 平面的宽度 - height = 1000 # 平面的高度 - resolution = 10 # 分辨率，控制点的密集程度 - - # XY 平面 (z=0) - x = np.linspace(-width / 2, width / 2, int(width / resolution)) # X 轴范围 - y = np.linspace(-height / 2, height / 2, int(height / resolution)) # Y 轴范围 - xv, yv = np.meshgrid(x, y) # 创建网格 - zv = np.zeros_like(xv) # z 坐标恒为 0 - points_xy = np.vstack((xv.flatten(), yv.flatten(), zv.flatten())).T - - # XZ 平面 (y=0) - z_xz = np.linspace(-height / 2, height / 2, int(height / resolution)) # Z 轴范围 - x_xz = np.linspace(-width / 2, width / 2, int(width / resolution)) # X 轴范围 - xv_xz, zv_xz = np.meshgrid(x_xz, z_xz) # 创建网格 - y_xz = np.zeros_like(xv_xz) # y 坐标恒为 0 - points_xz = np.vstack((xv_xz.flatten(), y_xz.flatten(), zv_xz.flatten())).T - - # YZ 平面 (x=0) - y_yz = np.linspace(-height / 2, height / 2, int(height / resolution)) # Y 轴范围 - z_yz = np.linspace(-width / 2, width / 2, int(width / resolution)) # Z 轴范围 - yv_yz, zv_yz = np.meshgrid(y_yz, z_yz) # 创建网格 - x_yz = np.zeros_like(yv_yz) # x 坐标恒为 0 - points_yz = np.vstack((x_yz.flatten(), yv_yz.flatten(), zv_yz.flatten())).T - - # 合并三个平面的点 - all_points = np.vstack((points_xy, points_xz, points_yz)) - - # 创建Open3D点云对象 - pcd_merged = o3d.geometry.PointCloud() - pcd_merged.points = o3d.utility.Vector3dVector(all_points) - pcd_merged.paint_uniform_color([1, 0, 0]) # 设置点云颜色为红色 - - return pcd_merged - -def read_mesh(obj_path, simple=True): - mesh_obj = o3d.io.read_triangle_mesh(obj_path) - return mesh_obj - if not simple: - return mesh_obj - original_triangles = len(mesh_obj.triangles) - target_triangles = original_triangles if original_triangles <= 10000 else 10000 - if original_triangles > 10000: - mesh_obj = mesh_obj.simplify_quadric_decimation( - target_number_of_triangles=target_triangles, - maximum_error=0.0001, - boundary_weight=1.0 - ) - - return mesh_obj - -def ply_print_layout_platform(weight_fix_out_obj_dir,weight_fix_out_dir,bounds_fix_out_dir,show_chart,dict_mesh_obj,dict_fix,dict_bounds_fix,machine_size,dict_total_matrix): - """根据排版结果移动点云到指定位置""" - placed_models,unplaced_models = get_models_box_size(weight_fix_out_dir,show_chart,dict_fix,machine_size) - if len(placed_models) ==0: - print("放进打印盒的数量为0") - return - # 创建坐标系 - draw_list = [] - if show_chart: - coordinate_frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.2, origin=[0, 0, 0]) - pcd_plane = make_merged_pcd() - draw_list.append(coordinate_frame) - draw_list.append(pcd_plane) - print("ply_print_layout_platform placed_models") - for model in placed_models: - print(f" - {model['name']} at {model['position']} with dimensions {model['dimensions']}") - ply_file_name = model['name'] - move_position = model['position'] - ply_origin_path = os.path.join(weight_fix_out_dir,ply_file_name) - # print("要读取的点云数据路径",ply_origin_path) - # pcd = o3d.io.read_point_cloud(ply_origin_path) - pcd = dict_fix[ply_file_name] - # print("dict_fix read",ply_file_name,move_position) - - points = np.asarray(pcd.points) - min_bound = np.min(points, axis=0) # 获取点云的最小边界 - max_bound = np.max(points, axis=0) - min_bound[1] = max(min_bound[1], 0) - bbox_center = (min_bound + max_bound) / 2 # 计算包围盒的中心点 - bbox_extent = (max_bound - min_bound) - new_bbox = o3d.geometry.OrientedBoundingBox(center=bbox_center, - R=np.eye(3), # 旋转矩阵，默认没有旋转 - extent=bbox_extent) - x = move_position[0] - y = move_position[1] - z = move_position[2] - #move_position = np.array([x,y,z])/100 - move_position = np.array([x, y, z]) - # translation_vector = -move_position - translation_vector = move_position - pcd.translate(translation_vector) - new_bbox.translate(translation_vector) - obj_name = ply_file_name.split("=")[0]+".obj" - obj_path = os.path.join(weight_fix_out_obj_dir,obj_name) - - mesh_obj = dict_mesh_obj[obj_name] - # print("dict_mesh_obj",obj_name) - - mesh_obj.translate(translation_vector) - # o3d.io.write_triangle_mesh(obj_path, mesh_obj) - - T_trans1 = np.eye(4) - T_trans1[:3, 3] = translation_vector - dict_total_matrix[obj_name]= T_trans1 @ dict_total_matrix[obj_name] - - new_bbox_lines = o3d.geometry.LineSet.create_from_oriented_bounding_box(new_bbox) - new_bbox_lines.paint_uniform_color([1, 0, 0]) # 红色 - - ply_out_path = os.path.join(bounds_fix_out_dir, ply_file_name) - - """ - #试着旋转180，让脸朝上 - centroid = pcd.get_center() - z_mean1 = centroid[2] - - angle_deg = 180 - angle_rad = np.radians(angle_deg) # 转换为弧度 - - # 生成旋转矩阵（绕Z轴） - rotation_matrix = pcd.get_rotation_matrix_from_xyz((0, 0, angle_rad)) # 参数为(X,Y,Z轴的旋转弧度) - - # 执行旋转（绕点云中心旋转，避免位移） - center = pcd.get_center() # 获取点云质心坐标 - pcd.rotate(rotation_matrix, center=center) - - centroid = pcd.get_center() - z_mean2 = centroid[2] - - if z_mean2 > z_mean1: - rotation_matrix = pcd.get_rotation_matrix_from_xyz((-angle_rad, 0, 0)) # 参数为(X,Y,Z轴的旋转弧度) - center = pcd.get_center() # 获取点云质心坐标 - # pcd.rotate(rotation_matrix, center=center) - #""" - - # o3d.io.write_point_cloud(ply_out_path, pcd) - dict_bounds_fix[ply_file_name] = pcd - #o3d.visualization.draw_geometries([pcd,pcd_plane,coordinate_frame]) - if show_chart: - draw_list.append(pcd) - draw_list.append(new_bbox_lines) - if show_chart: - o3d.visualization.draw_geometries(draw_list) - - return placed_models - -def compute_distance2(pcd1, pcd2): - points1 = np.asarray(pcd1.points) - points2 = np.asarray(pcd2.points) - min_distance = float('inf') - - for p1 in points1: - distances = np.linalg.norm(points2 - p1, axis=1) - min_distance = min(min_distance, np.min(distances)) - - return min_distance - -def compute_distance(pcd1, pcd2): - """ - 正确计算两个点云之间距离的函数。 - 返回两个点云之间最近距离的平均值、最小值以及全部距离数组。 - """ - # 使用Open3D内置的高效方法计算距离 - # 计算pcd1中每个点到pcd2中最近点的距离 - distances = pcd1.compute_point_cloud_distance(pcd2) - distances = np.asarray(distances) - - # 计算有意义的统计量 - min_dist = np.min(distances) # 所有点中的最小距离 - mean_dist = np.mean(distances) # 距离的平均值 - - # return min_dist, mean_dist, distances - return min_dist - -def compute_distance_x(pcd1, pcd2): - points1 = np.asarray(pcd1.points)[:, 0] # 提取所有X坐标[3](@ref) - points2 = np.asarray(pcd2.points)[:, 0] - - x_diff = np.abs(points1[:, np.newaxis] - points2) - return np.min(x_diff) - -def compute_distance_y(pcd1, pcd2): - points1 = np.asarray(pcd1.points)[:, 1] # 提取所有Y坐标[3](@ref) - points2 = np.asarray(pcd2.points)[:, 1] - - y_diff = np.abs(points1.reshape(-1, 1) - points2) - return np.min(y_diff) - -def check_collision(pcd_moving, static_pcds,collision_threshold): - #print("检测碰撞中》》") - #print(f"collision_threshold{collision_threshold}") - - moving_points = np.asarray(pcd_moving.points) - min_distance_to_x_axis = np.min(np.abs(moving_points[:, 1])) # Y 坐标即为与 X 轴的距离 - #print(f"与 X 轴的最小距离: {min_distance_to_x_axis}") - min_distance_to_y_axis = np.min(np.abs(moving_points[:, 0])) # X 坐标即为与 Y 轴的距离 - #print(f"与 Y 轴的最小距离: {min_distance_to_y_axis}") - min_distance_to_z_axis = np.min(np.abs(moving_points[:, 2])) # X 坐标即为与 Y 轴的距离 - #print(f"与 Z 轴的最小距离: {min_distance_to_z_axis}") - #print(f"pcd_moving{len(static_pcds)}") - #if min_distance_to_x_axis < collision_threshold: - #print(f"与 X 轴发生碰撞! 最小距离: {min_distance_to_x_axis}") - # return True - #if min_distance_to_y_axis < collision_threshold: - #print(f"与 Y 轴发生碰撞! 最小距离: {min_distance_to_y_axis}") - # return True - if len(static_pcds)>0: - for static_pcd in static_pcds: - if static_pcd==pcd_moving: - continue - min_distance = compute_distance(pcd_moving, static_pcd) - #print(f"与点云的最小距离: {min_distance}") - if min_distance < collision_threshold: - #print(f"发生碰撞! 最小距离: {min_distance}") - return True - return False - -def check_collision_x(pcd_moving, static_pcds,collision_threshold): - moving_points = np.asarray(pcd_moving.points) - min_distance_to_x_axis = np.min(np.abs(moving_points[:, 1])) # Y 坐标即为与 X 轴的距离 - #print(f"与 X 轴的最小距离: {min_distance_to_x_axis}") - #print(f"与 Y 轴的最小距离: {min_distance_to_y_axis}") - #print(f"pcd_moving{len(static_pcds)}") - if min_distance_to_x_axis < collision_threshold: - print(f"与 X 轴发生碰撞! 最小距离: {min_distance_to_x_axis}") - return True - - return check_collision_all(pcd_moving, static_pcds,collision_threshold) - -def check_collision_y(pcd_moving, static_pcds,collision_threshold): - moving_points = np.asarray(pcd_moving.points) - #print(f"与 X 轴的最小距离: {min_distance_to_x_axis}") - min_distance_to_y_axis = np.min(np.abs(moving_points[:, 0])) # X 坐标即为与 Y 轴的距离 - #print(f"与 Y 轴的最小距离: {min_distance_to_y_axis}") - #print(f"pcd_moving{len(static_pcds)}") - if min_distance_to_y_axis < collision_threshold: - print(f"与 Y 轴发生碰撞! 最小距离: {min_distance_to_y_axis}") - return True - - return check_collision_all(pcd_moving, static_pcds,collision_threshold) - -def check_collision_all2(pcd_moving, static_pcds,collision_threshold): - if len(static_pcds)>0: - for static_pcd in static_pcds: - if static_pcd==pcd_moving: - continue - min_distance = compute_distance(pcd_moving, static_pcd) - #print(f"与点云的最小距离: {min_distance}") - if min_distance < collision_threshold: - #print(f"发生碰撞! 最小距离: {min_distance}") - return True - return False - -""" -import numpy as np -import numba -from numba import cuda -import math - -# 预加载静态点云到GPU显存 -static_gpu_arrays = [] - -def preload_static_pcds(static_pcds): - global static_gpu_arrays - static_gpu_arrays = [ - cuda.to_device(np.asarray(pcd.points)) - for pcd in static_pcds - ] - -@cuda.jit(device=True) -def point_distance(p1, p2): - dx = p1[0] - p2[0] - dy = p1[1] - p2[1] - dz = p1[2] - p2[2] - return math.sqrt(dx*dx + dy*dy + dz*dz) - -@cuda.jit -def collision_check_kernel(moving_points, static_points, threshold, collision_flag): - # 三维线程索引划分 - x, y, z = cuda.grid(3) - - # 获取当前处理的静态点云索引 - static_idx = z - - if static_idx >= len(static_points): - return - - # 共享内存缓存移动点云数据 - shared_moving = cuda.shared.array(shape=(32,3), dtype=numba.float32) - tx = cuda.threadIdx.x - if tx < moving_points.shape[0]: - shared_moving[tx, 0] = moving_points[tx, 0] - shared_moving[tx, 1] = moving_points[tx, 1] - shared_moving[tx, 2] = moving_points[tx, 2] - cuda.syncthreads() - - # 遍历当前静态点云的所有点 - static_pt = static_points[static_idx][y] - min_dist = math.inf - - # 并行计算移动点云各点与当前静态点的距离 - for i in range(moving_points.shape[0]): - dist = point_distance(shared_moving[i], static_pt) - if dist < min_dist: - min_dist = dist - - # 原子操作更新碰撞状态 - if min_dist < threshold: - cuda.atomic.min(collision_flag, 0, 1) - -def check_collision_all(pcd_moving, static_pcds, collision_threshold): - # 移动点云数据上传GPU - moving_points = np.asarray(pcd_moving.points) - d_moving = cuda.to_device(moving_points.astype(np.float32)) - - # 初始化碰撞标志 - d_collision = cuda.to_device(np.zeros(1, dtype=np.int32)) - - # 三维网格划分（静态点云数×单点云最大点数×移动点云数） - static_count = len(static_gpu_arrays) - max_static_points = max([arr.shape[0] for arr in static_gpu_arrays]) - - # 计算最优线程块配置 - threads_per_block = (8, 8, 1) - blocks_x = (moving_points.shape[0] + 7) // 8 - blocks_y = (max_static_points + 7) // 8 - blocks_z = static_count - - # 启动核函数 - collision_check_kernel[(blocks_x, blocks_y, blocks_z), threads_per_block]( - d_moving, - [arr for arr in static_gpu_arrays], # 静态点云列表 - np.float32(collision_threshold), - d_collision - ) - - # 获取结果 - collision_result = d_collision.copy_to_host() - return collision_result[0] == 1 -#""" -#""" -import numpy as np - -def compute_aabb(pcd): - """计算点云的AABB包围盒""" - points = np.asarray(pcd.points) - return { - 'min': np.min(points, axis=0), - 'max': np.max(points, axis=0) - } - -def aabb_intersect(a, b, collision_threshold): - """判断两个AABB包围盒是否相交[2,8](@ref)""" - return (a['max'][0] > b['min'][0] - collision_threshold and a['min'][0] < b['max'][0] + collision_threshold) and \ - (a['max'][1] > b['min'][1] - collision_threshold and a['min'][1] < b['max'][1] + collision_threshold) and \ - (a['max'][2] > b['min'][2] - collision_threshold and a['min'][2] < b['max'][2] + collision_threshold) - -def check_collision_all(pcd_moving, static_pcds, collision_threshold): - # 预计算移动点云AABB - moving_aabb = compute_aabb(pcd_moving) - - for static_pcd in static_pcds: - if static_pcd == pcd_moving: - continue - # 第一阶段：AABB快速排除[1,6](@ref) - static_aabb = compute_aabb(static_pcd) - # print("len(static_pcd.points)=",len(static_pcd.points),"len(moving_aabb.points)=",len(pcd_moving.points)) - if not aabb_intersect(moving_aabb, static_aabb, collision_threshold): - continue # 包围盒无交集，直接跳过 - - if not aabb_intersect(moving_aabb, static_aabb, collision_threshold): - return False - - # 第二阶段：精确点距离计算 - min_distance = compute_distance(pcd_moving, static_pcd) - # print("check_collision_all",min_distance) - if min_distance < collision_threshold: - return True - - return False - -#""" - -def compute_centroid(pcd): - # 获取点云的所有点 - points = np.asarray(pcd.points) - # 计算质心（只考虑 X 和 Y 坐标） - centroid = np.mean(points[:, :2], axis=0) # 只考虑前两个维度（X 和 Y） - return centroid - -def compute_distance_to_origin(centroid): - # 计算质心距离原点的距离（只考虑 X 和 Y 坐标） - return np.linalg.norm(centroid) # 计算 X 和 Y 的欧几里得距离 - -def compute_closest_distance_to_origin(pcd): - # 获取点云的所有点坐标 - points = np.asarray(pcd.points) - # 计算每个点到原点的距离 - distances = np.linalg.norm(points, axis=1) - # 返回最小距离 - return np.min(distances) - -def sort_ply_files_by_closest_distance(folder_path): - ply_files = [f for f in os.listdir(folder_path) if f.endswith('.ply')] - distances = [] - - for ply_file in ply_files: - # 读取点云数据 - pcd = o3d.io.read_point_cloud(os.path.join(folder_path, ply_file)) - # 计算离原点最近的点的距离 - closest_distance = compute_closest_distance_to_origin(pcd) - distances.append((ply_file, closest_distance)) - - # 按照最近点的距离排序（由近到远） - distances.sort(key=lambda x: x[1]) - - # 返回排序后的文件列表 - sorted_files = [item[0] for item in distances] - print("Sorted files:", sorted_files) - return sorted_files - -def ply_file_at_edge(folder_path): - ply_files = [f for f in os.listdir(folder_path) if f.endswith('.ply')] - edge_points = [] - - for ply_file in ply_files: - # 读取点云数据 - pcd = o3d.io.read_point_cloud(os.path.join(folder_path, ply_file)) - points = np.asarray(pcd.points) # Nx3 的点阵 - x = points[:, 0] - y = points[:, 1] - z = points[:, 2] - - # 计算每个点到 X 轴（Y=Z=0）的距离：√(y² + z²) - dist_to_x_axis = np.sqrt(y ** 2 + z ** 2) - - # 计算每个点到 Y 轴（X=Z=0）的距离：√(x² + z²) - dist_to_y_axis = np.sqrt(x ** 2 + z ** 2) - - # 示例：最小距离和对应的点 - min_x_dist_idx = np.argmin(dist_to_x_axis) - min_y_dist_idx = np.argmin(dist_to_y_axis) - print(f"点云中到 X 轴最近的距离: {dist_to_x_axis[min_x_dist_idx]:.4f}") - print(f"点云中到 Y 轴最近的距离: {dist_to_y_axis[min_y_dist_idx]:.4f}") - min_x_dis = dist_to_x_axis[min_x_dist_idx] - min_y_dix = dist_to_y_axis[min_y_dist_idx] - if min_x_dis<20: - edge_points.append(ply_file) - if min_y_dix<20: - edge_points.append(ply_file) - edge_points=list(set(edge_points)) - print(f"edge_points{edge_points}") - print(len(edge_points)) - - - return edge_points - -def compute_range(pcd): - points = np.asarray(pcd.points) # 获取点云中的点 - x_min, y_min = np.min(points[:, 0]), np.min(points[:, 1]) # X轴和Y轴的最小值 - x_max, y_max = np.max(points[:, 0]), np.max(points[:, 1]) # X轴和Y轴的最大值 - return (x_min, x_max), (y_min, y_max) - -def check_check_finish_which_touch(bounds_compact_out_dir,finish_pcd,finish_pid,exist_finish_pid_list,collision_threshold): - """""" - if len(exist_finish_pid_list)==0: - return [] - need_remove_list = [] - for exist_finish_pid in exist_finish_pid_list: - if exist_finish_pid!=finish_pid: - exist_finish_pcd_path= os.path.join(bounds_compact_out_dir, exist_finish_pid) - exist_finish_pcd= o3d.io.read_point_cloud(exist_finish_pcd_path) - min_distance = compute_distance(finish_pcd, exist_finish_pcd) - print(f"{exist_finish_pid}与点云的最小距离---阈值{collision_threshold}---: {min_distance}") - if min_distance < collision_threshold: - # print(f"发生碰撞! 最小距离: {min_distance}") - need_remove_list.append(exist_finish_pid) - print(f"需要删除的list：：{need_remove_list}") - return need_remove_list - - -def filter_by_distance(points, original_center, threshold): - """ - 过滤掉距离 original_center 超过 threshold 的点。 - - :param points: N x 3 的 numpy 数组 - :param original_center: 1 x 3 的 numpy 数组或列表 - :param threshold: 距离阈值 - :return: 过滤后的点（仍是 N x 3 的 numpy 数组） - """ - points = np.array(points) - original_center = np.array(original_center) - - # 计算所有点到原始中心的欧几里得距离 - distances = np.linalg.norm(points - original_center, axis=1) - print(f"移动点和原始点的距离{distances}") - # 保留距离小于等于阈值的点 - filtered_points = points[distances <= threshold] - if len(filtered_points)==0: - return points - - return filtered_points - -def compact_mode_for_min_dis(input_dir, output_dir,show_chart,move_back,placed_models,dict_unplaced,dict_bounds_fix,dict_compact,machine_size): - # 小打印机380*345, 大打印机600*500*300 - y_step=1 - x_step=1 - delta = 10 - #""" - edge_x_min=-380 + delta - edge_y_min=-345 + delta - edge_x_max=0 - edge_y_max=0 - #""" - """ - edge_x_min=0 + delta - edge_y_min=0 + delta - edge_x_max=machine_size[0] - edge_y_max=machine_size[1] - #""" - collision_threshold=2 - move_last = True - # 清理输出目录 - if not os.path.exists(output_dir): - os.makedirs(output_dir) - for f in os.listdir(output_dir): - os.remove(os.path.join(output_dir, f)) - - pcd_all = [] - pcd_processed = [] - pcd_processed_x_top = [] - pcd_processed_no_x_top = [] - name_list = [] - model_list = [] - last_pcd_list = [] - last_name_list = [] - last_pcd_processed = [] - max_x = 0 - min_x = 9999 - max_delta_x = 0 - x_top_delta = 1 - border_delta = 4 - - pcd_first= [] - pcd_second= [] - for model in placed_models: - ply_origin_path = os.path.join(input_dir,model['name']) - # pcd = o3d.io.read_point_cloud(ply_origin_path) - pcd = dict_bounds_fix[model['name']] - pcd_all.append(pcd) - - if (get_axis_aligned_bbox(pcd)['y_min']>edge_y_max*0.3): - # if (True): - pcd_first.append(pcd) - print("add pcd_first", model['name']) - else: - pcd_second.append(pcd) - print("add pcd_second", model['name']) - last_name_list.append(model['name']) - - name_list.append(model['name']) - model_list.append(model) - dx = model['dimensions'][0] - x = model['position'][0] - - # if (x<=x_top_delta) : - if (x>=edge_x_max-x_top_delta) : - pcd_processed_x_top.append(pcd) - if dx > max_x: - max_x = dx - if dx < min_x: - min_x = dx - max_delta_x = max_x - min_x - - # print("compact_mode_for_min_dis", model, max_delta_x) - - draw_down = True - if max_delta_x < 10: - draw_down = False - #move_last = False - - # for idx, pcd in enumerate(pcd_all): - for idx, pcd in enumerate(pcd_first): - x = model_list[idx]['position'][0] - y = model_list[idx]['position'][1] - dx = model_list[idx]['dimensions'][0] - # print("compact_mode", name_list[idx], dx, x) - dist_x = 50 - dist_y = 20 - is_x_top = False - if x - 10 < edge_x_min: - dist_x = x - edge_x_min - if y - 10 < edge_y_min: - dist_y = y - edge_y_min - # if (x>x_top_delta) : - if (x 80: - y_init_big = 10 - x_init_big = y_init_big - 1 - """ - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['y_max'] >= edge_y_max - collision_threshold: - pcd.translate([-x_step_big, -y_step_big, 0]) - print("compact_mode y_max", idx, bbox['y_max'], edge_y_max - collision_threshold_big) - break - if bbox['x_max'] >= edge_x_max - collision_threshold: - pcd.translate([-x_step_big, -y_step_big, 0]) - print("compact_mode x_max", idx, bbox['x_max'], edge_x_max - collision_threshold_big) - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_big): - pcd.translate([-x_step_big, -y_step_big, 0]) - break - pcd.translate([x_step_big, y_step_big, 0]) - #""" - #""" - while True: - bbox = get_axis_aligned_bbox(pcd) - # print("x_max",bbox['x_max'],bbox['x_min'],bbox['y_max'],bbox['y_min']) - if bbox['y_min'] <= edge_y_min + collision_threshold_big and False: - pcd.translate([0, y_step_big, 0]) - break - if bbox['y_max'] >= edge_y_max - collision_threshold_big: - pcd.translate([0, -y_step_big, 0]) - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_big+y_init_big): #5 - pcd.translate([0, -y_step_big, 0]) - break - pcd.translate([0, y_step_big, 0]) - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['x_min'] <= edge_x_min + collision_threshold_big and False: - pcd.translate([x_step_big, 0, 0]) - break - if bbox['x_max'] >= edge_x_max - collision_threshold_big: - pcd.translate([-x_step_big, 0, 0]) - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_big+x_init_big): - pcd.translate([-x_step_big, 0, 0]) - break - pcd.translate([x_step_big, 0, 0]) - #""" - #""" - collision_threshold_init = collision_threshold+6 - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['y_min'] <= edge_y_min + collision_threshold_init and False: - pcd.translate([0, y_step, 0]) - break - # if bbox['y_max'] >= edge_y_max - collision_threshold_init: - if bbox['y_max'] >= edge_y_max - border_delta: - pcd.translate([0, -y_step, 0]) - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_init+1): #5 - pcd.translate([0, -y_step, 0]) - break - pcd.translate([0, y_step, 0]) - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['x_min'] <= edge_x_min + collision_threshold_init and False: - pcd.translate([x_step, 0, 0]) - break - # if bbox['x_max'] >= edge_x_max - collision_threshold_init: - if bbox['x_max'] >= edge_x_max - border_delta: - pcd.translate([-x_step, 0, 0]) - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_init): - pcd.translate([-x_step, 0, 0]) - break - pcd.translate([x_step, 0, 0]) - #""" - #""" - collision_threshold_init = collision_threshold+2 - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['y_min'] <= edge_y_min + collision_threshold_init and False: - pcd.translate([0, y_step, 0]) - break - if bbox['y_max'] >= edge_y_max - collision_threshold_init: - pcd.translate([0, -y_step, 0]) - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_init+1): #5 - pcd.translate([0, -y_step, 0]) - break - pcd.translate([0, y_step, 0]) - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['x_min'] <= edge_x_min + collision_threshold_init and False: - pcd.translate([x_step, 0, 0]) - break - if bbox['x_max'] >= edge_x_max - collision_threshold_init: - pcd.translate([-x_step, 0, 0]) - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_init): - pcd.translate([-x_step, 0, 0]) - break - pcd.translate([x_step, 0, 0]) - # place again - collision_threshold_init = collision_threshold+1 - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['y_min'] <= edge_y_min + collision_threshold_init and False: - pcd.translate([0, y_step, 0]) - break - if bbox['y_max'] >= edge_y_max - collision_threshold_init: - pcd.translate([0, -y_step, 0]) - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_init): #5 - pcd.translate([0, -y_step, 0]) - break - pcd.translate([0, y_step, 0]) - #""" - pcd_processed.append(pcd) - pcd_processed_x_top.append(pcd) - if not is_x_top: - pcd_processed_no_x_top.append(pcd) - - cross_border = False - bbox = get_axis_aligned_bbox(pcd) - if bbox['x_min'] <= edge_x_min + 1 or bbox['y_min'] <= edge_y_min + 1: - cross_border = True - print("coross_border",name_list[idx]) - - print(name_list[idx],"dx",dx,"y_min",get_axis_aligned_bbox(pcd)['y_min'],cross_border) - # if (dx <= 120 and get_axis_aligned_bbox(pcd)['y_min'] < -250 and move_last) or cross_border: - # last_name_list.append(name_list[idx]) - # last_pcd_list.append(pcd) - # print("last_pcd_list",name_list[idx],"dx",dx,"y_min",get_axis_aligned_bbox(pcd)['y_min']) - # else: - # # o3d.io.write_point_cloud(os.path.join(output_dir, name_list[idx]), pcd) - # dict_compact[name_list[idx]] = pcd - # last_pcd_processed.append(pcd) - - if cross_border: - pcd_second.append(pcd) - last_name_list.append(name_list[idx]) - print("cross_border", name_list[idx]) - else: - print("Add dict_compact", name_list[idx]) - dict_compact[name_list[idx]] = pcd - last_pcd_processed.append(pcd) - - volumes = [] - # for idx, pcd in enumerate(last_pcd_list): - for idx, pcd in enumerate(pcd_second): - bbox = get_axis_aligned_bbox(pcd) - - x_length = bbox['x_max'] - bbox['x_min'] - y_length = bbox['y_max'] - bbox['y_min'] - z_length = bbox['z_max'] - bbox['z_min'] - volume = x_length * y_length * z_length - volumes.append(volume) - - print("last_pcd_list", len(last_pcd_list), len(last_pcd_list), len(last_pcd_processed), len(pcd_all)) - sorted_indices = np.argsort(volumes)[::-1] - pcd_second2 = [pcd_second[i] for i in sorted_indices] - last_name_list2 = [last_name_list[i] for i in sorted_indices] - # print("last_pcd_list2", len(last_pcd_list2)) - - #last_pcd_list2 = last_pcd_list - #last_name_list2 = last_name_list - - for idx, pcd in enumerate(pcd_second2): - points = np.asarray(pcd.points) - min_x = np.min(points[:, 0]) - max_y = np.max(points[:, 1]) # 当前最大y值 - - tx = edge_x_min - min_x - ty = -max_y - 0.001 - - # pcd.translate((tx, ty, 0), relative=True) - - move_to_top_left(pcd, edge_x_min+2, edge_y_max-2) - - name = last_name_list2[idx] - # print("pcd_second2",name,"tx",tx,"ty",ty) - succ_move = True - y_accum = 0 - finish_move2 = False - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+1 - if bbox['y_min'] <= edge_y_min + collision_threshold_init: - print("succ_move False",name,bbox['y_min'],edge_y_min + collision_threshold_init) - succ_move = False - finish_move2 = True - """ - move_to_top_left(pcd, edge_x_min+2, edge_y_max-2) - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init2 = collision_threshold - if bbox['y_min'] <= edge_y_min + collision_threshold_init2: - print("succ_move False2",name,bbox['y_min'],edge_y_min + collision_threshold_init2) - succ_move = False - finish_move2 = True - break - if not check_collision_all(pcd, last_pcd_processed,collision_threshold_init2): - print("succ_move 2") - finish_move2 = True - break - pcd.translate([0, -y_step, 0]) - """ - - if (finish_move2): - break - else: - if not check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - print("succ_move1",name,bbox['x_max'],bbox['y_max'],len(last_pcd_processed)) - break - - pcd.translate([0, -y_step, 0]) - y_accum += y_step - if succ_move: - print("succ_move2", name) - """ - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['x_max'] >= edge_x_max - collision_threshold_big: - pcd.translate([-x_step_big, 0, 0]) - break - if check_collision_all(pcd, last_pcd_processed,collision_threshold_big): - pcd.translate([-x_step_big, 0, 0]) - break - pcd.translate([x_step_big, 0, 0]) - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['y_max'] >= edge_y_max - collision_threshold: - pcd.translate([0, -y_step, 0]) - break - if check_collision_all(pcd, last_pcd_processed,collision_threshold+1): #5 - pcd.translate([0, -y_step, 0]) - break - pcd.translate([0, y_step, 0]) - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['x_max'] >= edge_x_max - collision_threshold: - pcd.translate([-x_step, 0, 0]) - break - if check_collision_all(pcd, last_pcd_processed,collision_threshold): - pcd.translate([-x_step, 0, 0]) - break - pcd.translate([x_step, 0, 0]) - #""" - - #""" - x_accu = 0 - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+2 - #print("Move x_step_big", name, bbox['y_max'], bbox['x_max']) - if bbox['x_max'] >= edge_x_max - collision_threshold_init: - pcd.translate([-x_accu, 0, 0]) - break - if not check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - x_accu = 0 - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+1 - if bbox['y_max'] >= edge_y_max - collision_threshold_init: - pcd.translate([0, -y_step_big, 0]) - #print("Move y_max", name, bbox['y_max'], bbox['x_max']) - break - if check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - pcd.translate([0, -y_step_big, 0]) - #print("Move y_max2", name, bbox['y_max'], bbox['x_max']) - break - pcd.translate([0, y_step_big, 0]) - #print("Move y_step_big", name, bbox['y_max'], bbox['x_max']) - else: - n = 1 - - x_accu += x_step_big - pcd.translate([x_step_big, 0, 0]) - #""" - else: - # pcd.translate((-tx, -ty+y_accum, 0), relative=True) - points = np.asarray(pcd.points) - min_x = np.min(points[:, 0]) - min_y = np.min(points[:, 1]) - tx = edge_x_min - min_x - ty = edge_y_min - min_y - pcd.translate((tx, ty, 0), relative=True) - - print("last place", name) - - #""" - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+10 - if bbox['x_max'] >= edge_x_max - collision_threshold_init: - print("fail to place",name) - break - if not check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - print("last place2",name) - break - pcd.translate([x_step_big, 0, 0]) - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+3 - if bbox['y_max'] >= edge_y_max - collision_threshold_init: - pcd.translate([0, -y_step_big, 0]) - print("last place3",name) - break - if check_collision_all(pcd, last_pcd_processed,collision_threshold_init): #5 - pcd.translate([0, -y_step_big, 0]) - print("last place4",name,collision_threshold_init,len(last_pcd_processed)) - break - pcd.translate([0, y_step_big, 0]) - print("last place41",y_step_big) - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['y_max'] >= edge_y_max - collision_threshold: - pcd.translate([0, -y_step, 0]) - print("last place5",name) - break - if check_collision_all(pcd, last_pcd_processed,collision_threshold+1): #5 - pcd.translate([0, -y_step, 0]) - print("last place6",name) - break - pcd.translate([0, y_step, 0]) - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['x_max'] >= edge_x_max - collision_threshold: - pcd.translate([-x_step, 0, 0]) - print("last place7",name) - break - if check_collision_all(pcd, last_pcd_processed,collision_threshold): - pcd.translate([-x_step, 0, 0]) - print("last place8",name) - break - pcd.translate([x_step, 0, 0]) - #""" - - """ - can_place_last = False - x_accu = 0 - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+2 - if bbox['x_max'] >= edge_x_max - collision_threshold_init: - if not can_place_last: - print("fail to place",name) - dict_unplaced[name]=name - else: - pcd.translate([-x_accu, 0, 0]) - break - if not check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - can_place_last = True - x_accu = 0 - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+1 - if bbox['y_max'] >= edge_y_max - collision_threshold_init: - pcd.translate([0, -y_step_big, 0]) - break - if check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - pcd.translate([0, -y_step_big, 0]) - break - pcd.translate([0, y_step_big, 0]) - #print("Move2 y_step_big", name) - else: - n = 1 - - x_accu += x_step_big - pcd.translate([x_step_big, 0, 0]) - #""" - #""" - can_place_last = False - x_accu = 0 - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+2 - if bbox['x_max'] >= edge_x_max - collision_threshold_init: - if not can_place_last: - print("fail to place",name) - dict_unplaced[name]=name - else: - pcd.translate([-x_accu, 0, 0]) - break - if not check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - can_place_last = True - x_accu = 0 - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+1 - if bbox['y_max'] >= edge_y_max - collision_threshold_init: - pcd.translate([0, -y_step_big, 0]) - break - if check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - pcd.translate([0, -y_step_big, 0]) - break - pcd.translate([0, y_step_big, 0]) - #print("Move2 y_step_big", name) - else: - n = 1 - - x_accu += x_step_big - pcd.translate([x_step_big, 0, 0]) - #""" - - last_pcd_processed.append(pcd) - """ - print("is_x_top",is_x_top) - if not is_x_top: - last_pcd_processed.append(pcd) - print("last_pcd_processed.append",name) - else: - print("fail last_pcd_processed.append",name, is_x_top) - """ - # o3d.io.write_point_cloud(os.path.join(output_dir, name), pcd) - dict_compact[name] = pcd - - print("2Add dict_compact", name) - -def compact_mode_for_min_dis1_json(input_dir,output_dir,show_chart,move_back,placed_models,dict_unplaced,dict_bounds_fix,dict_compact,machine_size,dict_total_matrix): - # 小打印机380*345*250, 大打印机600*500*300 - y_step=1 - x_step=1 - delta = 10 - - edge_x_min=0 + delta - edge_y_min=0 + delta - edge_x_max=machine_size[0] - edge_y_max=machine_size[1] - - collision_threshold=2 - move_last = True - - # 清理输出目录 - if not os.path.exists(output_dir): - os.makedirs(output_dir) - for f in os.listdir(output_dir): - os.remove(os.path.join(output_dir, f)) - - pcd_all = [] - pcd_processed = [] - pcd_processed_x_top = [] - pcd_processed_no_x_top = [] - # name_list = [] - dict_name = {} - # model_list = [] - dict_model = {} - last_pcd_list = [] - # last_name_list = [] - dic_last_name = {} - last_pcd_processed = [] - max_x = machine_size[0] - min_x = 0 - max_delta_x = 0 - x_top_delta = 1 - border_delta = 4 - - pcd_first= [] - pcd_second= [] - - index = 0 - for model in placed_models: - pcd = dict_bounds_fix[model['name']] - - num_samples = min(1500, len(pcd.points)) - - pcd_all.append(pcd) - - if (get_axis_aligned_bbox(pcd)['y_min']>edge_y_max*0.3 or True): - pcd_first.append(pcd) - else: - pcd_second.append(pcd) - - # pcd_all.append(pcd_downsampled) - # name_list.append(model['name']) - # model_list.append(model) - dict_name[pcd] = model['name'] - dict_model[pcd] = model - dx = model['dimensions'][0] - x = model['position'][0] - - if (x>=edge_x_max-x_top_delta) : - pcd_processed_x_top.append(pcd) - print("pcd_processed_x_top", model['name']) - if dx > max_x: - max_x = dx - if dx < min_x: - min_x = dx - max_delta_x = max_x - min_x - - index += 1 - - # print("compact_mode_for_min_dis1_json", model, max_delta_x) - - draw_down = False - if max_delta_x < 10: - draw_down = False - - # for idx, pcd in enumerate(pcd_all): - for idx, pcd in enumerate(pcd_first): - - if dict_model[pcd]['first_line']: - pcd_processed.append(pcd) - last_pcd_processed.append(pcd) - continue - - x = dict_model[pcd]['position'][0] - y = dict_model[pcd]['position'][1] - dx = dict_model[pcd]['dimensions'][0] - print("compact_mode", dict_name[pcd], dx, x) - - ply_file_name = dict_name[pcd] - obj_name = ply_file_name.split("=")[0]+".obj" - - T_trans1 = np.eye(4) - - dist_x = 50 - dist_y = 20 - is_x_top = False - if x - 10 < edge_x_min: - dist_x = x - edge_x_min - if y - 10 < edge_y_min: - dist_y = y - edge_y_min - if (x 80: - y_init_big = 10 - x_init_big = y_init_big - 1 - - if check_collision_all(pcd, pcd_processed_curr, 1): - while True: - step = 25 - pcd.translate([0, -step, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -step, 0] - T_trans1 = T_transTemp @ T_trans1 - # pcd.translate([-step, 0, 0]) - # T_transTemp[:3, 3] = [-step, 0, 0] - # T_trans1 = T_transTemp @ T_trans1 - - if not check_collision_all(pcd, pcd_processed_curr, collision_threshold_big): - break - - """ - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['y_max'] >= edge_y_max - collision_threshold: - pcd.translate([-x_step_big, -y_step_big, 0]) - print("compact_mode y_max", idx, bbox['y_max'], edge_y_max - collision_threshold_big) - break - if bbox['x_max'] >= edge_x_max - collision_threshold: - pcd.translate([-x_step_big, -y_step_big, 0]) - print("compact_mode x_max", idx, bbox['x_max'], edge_x_max - collision_threshold_big) - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_big): - pcd.translate([-x_step_big, -y_step_big, 0]) - break - pcd.translate([x_step_big, y_step_big, 0]) - #""" - #""" - while True: - bbox = get_axis_aligned_bbox(pcd) - # print("x_max",bbox['x_max'],bbox['x_min'],bbox['y_max'],bbox['y_min']) - if bbox['y_min'] <= edge_y_min + collision_threshold_big and False: - pcd.translate([0, y_step_big, 0]) - break - if bbox['y_max'] >= edge_y_max - collision_threshold_big: - pcd.translate([0, -y_step_big, 0]) - - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_big+y_init_big): #5 - pcd.translate([0, -y_step_big, 0]) - - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - - break - pcd.translate([0, y_step_big, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['x_min'] <= edge_x_min + collision_threshold_big and False: - pcd.translate([x_step_big, 0, 0]) - break - if bbox['x_max'] >= edge_x_max - collision_threshold_big: - pcd.translate([-x_step_big, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [-x_step_big, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_big+x_init_big): - pcd.translate([-x_step_big, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [-x_step_big, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - break - pcd.translate([x_step_big, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [x_step_big, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - #""" - #""" - collision_threshold_init = collision_threshold+6 - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['y_min'] <= edge_y_min + collision_threshold_init and False: - pcd.translate([0, y_step, 0]) - break - # if bbox['y_max'] >= edge_y_max - collision_threshold_init: - if bbox['y_max'] >= edge_y_max - border_delta: - pcd.translate([0, -y_step, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step, 0] - T_trans1 = T_transTemp @ T_trans1 - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_init+1): #5 - pcd.translate([0, -y_step, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step, 0] - T_trans1 = T_transTemp @ T_trans1 - break - pcd.translate([0, y_step, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, y_step, 0] - T_trans1 = T_transTemp @ T_trans1 - #""" - #""" - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['x_min'] <= edge_x_min + collision_threshold_init and False: - pcd.translate([x_step, 0, 0]) - break - # if bbox['x_max'] >= edge_x_max - collision_threshold_init: - if bbox['x_max'] >= edge_x_max - border_delta: - # print("1pcd.translate([-x_step, 0, 0])",name_list[idx]) - pcd.translate([-x_step, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [-x_step, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_init): - # print("2pcd.translate([-x_step, 0, 0])",name_list[idx]) - pcd.translate([-x_step, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [-x_step, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - break - pcd.translate([x_step, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [x_step, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - #""" - #""" - collision_threshold_init = collision_threshold+2 - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['y_min'] <= edge_y_min + collision_threshold_init and False: - pcd.translate([0, y_step, 0]) - break - if bbox['y_max'] >= edge_y_max - collision_threshold_init: - pcd.translate([0, -y_step, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step, 0] - T_trans1 = T_transTemp @ T_trans1 - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_init+1): #5 - pcd.translate([0, -y_step, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step, 0] - T_trans1 = T_transTemp @ T_trans1 - break - pcd.translate([0, y_step, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, y_step, 0] - T_trans1 = T_transTemp @ T_trans1 - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['x_min'] <= edge_x_min + collision_threshold_init and False: - pcd.translate([x_step, 0, 0]) - break - if bbox['x_max'] >= edge_x_max - collision_threshold_init: - pcd.translate([-x_step, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [-x_step, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_init): - pcd.translate([-x_step, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [-x_step, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - break - pcd.translate([x_step, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [x_step, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - # place again - collision_threshold_init = collision_threshold+1 - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['y_min'] <= edge_y_min + collision_threshold_init and False: - pcd.translate([0, y_step, 0]) - break - if bbox['y_max'] >= edge_y_max - collision_threshold_init: - pcd.translate([0, -y_step, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step, 0] - T_trans1 = T_transTemp @ T_trans1 - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_init): #5 - pcd.translate([0, -y_step, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step, 0] - T_trans1 = T_transTemp @ T_trans1 - break - pcd.translate([0, y_step, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, y_step, 0] - T_trans1 = T_transTemp @ T_trans1 - #""" - pcd_processed.append(pcd) - pcd_processed_x_top.append(pcd) - if not is_x_top: - pcd_processed_no_x_top.append(pcd) - - cross_border = False - bbox = get_axis_aligned_bbox(pcd) - if bbox['x_min'] <= edge_x_min + 1 or bbox['y_min'] <= edge_y_min + 1: - cross_border = True - print("coross_border",ply_file_name) - - # print(ply_file_name,"dx",dx,"y_min",get_axis_aligned_bbox(pcd)['y_min'],cross_border) - # if (get_axis_aligned_bbox(pcd)['y_min']= edge_x_max - collision_threshold_big: - pcd.translate([-x_step_big, 0, 0]) - break - if check_collision_all(pcd, last_pcd_processed,collision_threshold_big): - pcd.translate([-x_step_big, 0, 0]) - break - pcd.translate([x_step_big, 0, 0]) - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['y_max'] >= edge_y_max - collision_threshold: - pcd.translate([0, -y_step, 0]) - break - if check_collision_all(pcd, last_pcd_processed,collision_threshold+1): #5 - pcd.translate([0, -y_step, 0]) - break - pcd.translate([0, y_step, 0]) - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['x_max'] >= edge_x_max - collision_threshold: - pcd.translate([-x_step, 0, 0]) - break - if check_collision_all(pcd, last_pcd_processed,collision_threshold): - pcd.translate([-x_step, 0, 0]) - break - pcd.translate([x_step, 0, 0]) - #""" - - #""" - x_accu = 0 - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+2 - #print("Move x_step_big", name, bbox['y_max'], bbox['x_max']) - if bbox['x_max'] >= edge_x_max - collision_threshold_init: - pcd.translate([-x_accu, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [-x_accu, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - break - if not check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - x_accu = 0 - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+1 - if bbox['y_max'] >= edge_y_max - collision_threshold_init: - pcd.translate([0, -y_step_big, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - #print("Move y_max", name, bbox['y_max'], bbox['x_max']) - break - if check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - pcd.translate([0, -y_step_big, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - #print("Move y_max2", name, bbox['y_max'], bbox['x_max']) - break - pcd.translate([0, y_step_big, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - #print("Move y_step_big", name, bbox['y_max'], bbox['x_max']) - else: - n = 1 - - x_accu += x_step_big - pcd.translate([x_step_big, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [x_step_big, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - #""" - else: - # T_transTemp = move_to_bottom_left(pcd, edge_x_min, edge_y_min) - T_transTemp = move_to_bottom_right(pcd, edge_x_max, edge_y_min) - T_trans1 = T_transTemp @ T_trans1 - - print("last place", name) - - """ - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+10 - if bbox['x_max'] >= edge_x_max - collision_threshold_init: - print("fail to place",name) - break - if not check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - print("last place2",name) - break - pcd.translate([x_step_big, 0, 0]) - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+3 - if bbox['y_max'] >= edge_y_max - collision_threshold_init: - pcd.translate([0, -y_step_big, 0]) - print("last place3",name) - break - if check_collision_all(pcd, last_pcd_processed,collision_threshold_init): #5 - pcd.translate([0, -y_step_big, 0]) - print("last place4",name,collision_threshold_init,len(last_pcd_processed)) - break - pcd.translate([0, y_step_big, 0]) - print("last place41",y_step_big) - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['y_max'] >= edge_y_max - collision_threshold: - pcd.translate([0, -y_step, 0]) - print("last place5",name) - break - if check_collision_all(pcd, last_pcd_processed,collision_threshold+1): #5 - pcd.translate([0, -y_step, 0]) - print("last place6",name) - break - pcd.translate([0, y_step, 0]) - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['x_max'] >= edge_x_max - collision_threshold: - pcd.translate([-x_step, 0, 0]) - print("last place7",name) - break - if check_collision_all(pcd, last_pcd_processed,collision_threshold): - pcd.translate([-x_step, 0, 0]) - print("last place8",name) - break - pcd.translate([x_step, 0, 0]) - #""" - - """ - can_place_last = False - x_accu = 0 - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+2 - if bbox['x_max'] >= edge_x_max - collision_threshold_init: - if not can_place_last: - print("fail to place",name) - dict_unplaced[name]=name - else: - pcd.translate([-x_accu, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [-x_accu, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - break - if not check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - can_place_last = True - x_accu = 0 - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+1 - if bbox['y_max'] >= edge_y_max - collision_threshold_init: - pcd.translate([0, -y_step_big, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - break - if check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - pcd.translate([0, -y_step_big, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - break - pcd.translate([0, y_step_big, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - #print("Move2 y_step_big", name) - else: - n = 1 - - x_accu += x_step_big - pcd.translate([x_step_big, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [x_step_big, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - #""" - - #""" - can_place_last = False - x_accu = 0 - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+2 - if bbox['x_max'] >= edge_x_max - collision_threshold_init: - if not can_place_last: - print("fail to place",name) - dict_unplaced[name]=name - else: - pcd.translate([-x_accu, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [-x_accu, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - break - if not check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - can_place_last = True - x_accu = 0 - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+1 - if bbox['y_max'] >= edge_y_max - collision_threshold_init: - pcd.translate([0, -y_step_big, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - break - if check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - pcd.translate([0, -y_step_big, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - break - pcd.translate([0, y_step_big, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - #print("Move2 y_step_big", name) - else: - n = 1 - - x_accu += x_step_big - pcd.translate([x_step_big, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [x_step_big, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - #""" - - """ - can_place_last = False - x_accu = 0 - place_first = True - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+2 - if bbox['x_min'] <= edge_x_min + collision_threshold_init: - if not can_place_last: - print("fail to place",name) - dict_unplaced[name]=name - else: - pcd.translate([+x_accu, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [+x_accu, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - place_first = True - print("place_first True") - break - can_break = False - if not check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - can_place_last = True - x_accu = 0 - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+1 - if bbox['y_max'] >= edge_y_max - collision_threshold_init: - pcd.translate([0, -y_step_big, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - can_break = True - break - if check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - pcd.translate([0, -y_step_big, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - if place_first: - can_break = True - break - pcd.translate([0, y_step_big, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - #print("Move2 y_step_big", name) - else: - n = 1 - - if can_break: - break - - x_accu += x_step_big - pcd.translate([-x_step_big, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [-x_step_big, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - #""" - - last_pcd_processed.append(pcd) - """ - print("is_x_top",is_x_top) - if not is_x_top: - last_pcd_processed.append(pcd) - print("last_pcd_processed.append",name) - else: - print("fail last_pcd_processed.append",name, is_x_top) - """ - # o3d.io.write_point_cloud(os.path.join(output_dir, name), pcd) - dict_compact[name] = pcd - - dict_total_matrix[obj_name]= T_trans1 @ dict_total_matrix[obj_name] - -def compact_mode_for_min_dis2_json(input_dir,output_dir,show_chart,move_back,placed_models,dict_unplaced,dict_bounds_fix,dict_compact,machine_size,dict_total_matrix): - # 小打印机380*345, 大打印机600*500*300 - y_step=1 - x_step=1 - delta = 10 - - edge_x_min=0 + delta - edge_y_min=0 + delta - edge_x_max=machine_size[0] - edge_y_max=machine_size[1] - - collision_threshold=2 - # move_last = True - move_last = False - - # 清理输出目录 - if not os.path.exists(output_dir): - os.makedirs(output_dir) - for f in os.listdir(output_dir): - os.remove(os.path.join(output_dir, f)) - - pcd_all = [] - pcd_processed = [] - pcd_processed_x_top = [] - pcd_processed_no_x_top = [] - # name_list = [] - dict_name = {} - # model_list = [] - dict_model = {} - last_pcd_list = [] - # last_name_list = [] - dic_last_name = {} - last_pcd_processed = [] - max_x = machine_size[0] - min_x = 0 - max_delta_x = 0 - x_top_delta = 1 - border_delta = 4 - for model in placed_models: - pcd = dict_bounds_fix[model['name']] - - pcd_all.append(pcd) - - dict_name[pcd] = model['name'] - dict_model[pcd] = model - dx = model['dimensions'][0] - x = model['position'][0] - - if (x>=edge_x_max-x_top_delta) : - pcd_processed_x_top.append(pcd) - print("pcd_processed_x_top", model['name']) - if dx > max_x: - max_x = dx - if dx < min_x: - min_x = dx - max_delta_x = max_x - min_x - - # print("compact_mode_for_min_dis2_json", model, max_delta_x) - - # draw_down = True - draw_down = False - if max_delta_x < 10: - draw_down = False - - for idx, pcd in enumerate(pcd_all): - x = dict_model[pcd]['position'][0] - y = dict_model[pcd]['position'][1] - dx = dict_model[pcd]['dimensions'][0] - # print("compact_mode", dict_name[pcd], dx, x) - - ply_file_name = dict_name[pcd] - obj_name = ply_file_name.split("=")[0]+".obj" - - T_trans1 = np.eye(4) - - dist_x = 50 - dist_y = 20 - is_x_top = False - if x - 10 < edge_x_min: - dist_x = x - edge_x_min - if y - 10 < edge_y_min: - dist_y = y - edge_y_min - if (x 80: - y_init_big = 10 - x_init_big = y_init_big - 1 - #""" - while True: - bbox = get_axis_aligned_bbox(pcd) - # print("x_max",bbox['x_max'],bbox['x_min'],bbox['y_max'],bbox['y_min']) - if bbox['y_min'] <= edge_y_min + collision_threshold_big and False: - pcd.translate([0, y_step_big, 0]) - break - if bbox['y_max'] >= edge_y_max - collision_threshold_big: - pcd.translate([0, -y_step_big, 0]) - - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_big+y_init_big): #5 - pcd.translate([0, -y_step_big, 0]) - - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - - break - pcd.translate([0, y_step_big, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['x_min'] <= edge_x_min + collision_threshold_big and False: - pcd.translate([x_step_big, 0, 0]) - break - if bbox['x_max'] >= edge_x_max - collision_threshold_big: - pcd.translate([-x_step_big, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [-x_step_big, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_big+x_init_big): - pcd.translate([-x_step_big, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [-x_step_big, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - break - pcd.translate([x_step_big, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [x_step_big, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - #""" - #""" - collision_threshold_init = collision_threshold+6 - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['y_min'] <= edge_y_min + collision_threshold_init and False: - pcd.translate([0, y_step, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, y_step, 0] - T_trans1 = T_transTemp @ T_trans1 - break - # if bbox['y_max'] >= edge_y_max - collision_threshold_init: - if bbox['y_max'] >= edge_y_max - border_delta: - pcd.translate([0, -y_step, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step, 0] - T_trans1 = T_transTemp @ T_trans1 - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_init+1): #5 - pcd.translate([0, -y_step, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step, 0] - T_trans1 = T_transTemp @ T_trans1 - break - pcd.translate([0, y_step, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, y_step, 0] - T_trans1 = T_transTemp @ T_trans1 - #""" - #""" - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['x_min'] <= edge_x_min + collision_threshold_init and False: - pcd.translate([x_step, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [x_step, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - break - # if bbox['x_max'] >= edge_x_max - collision_threshold_init: - if bbox['x_max'] >= edge_x_max - border_delta: - # print("1pcd.translate([-x_step, 0, 0])",name_list[idx]) - pcd.translate([-x_step, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [-x_step, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_init): - # print("2pcd.translate([-x_step, 0, 0])",name_list[idx]) - pcd.translate([-x_step, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [-x_step, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - break - pcd.translate([x_step, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [x_step, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - #""" - #""" - collision_threshold_init = collision_threshold+2 - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['y_min'] <= edge_y_min + collision_threshold_init and False: - pcd.translate([0, y_step, 0]) - break - if bbox['y_max'] >= edge_y_max - collision_threshold_init: - pcd.translate([0, -y_step, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step, 0] - T_trans1 = T_transTemp @ T_trans1 - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_init+1): #5 - pcd.translate([0, -y_step, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step, 0] - T_trans1 = T_transTemp @ T_trans1 - break - pcd.translate([0, y_step, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, y_step, 0] - T_trans1 = T_transTemp @ T_trans1 - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['x_min'] <= edge_x_min + collision_threshold_init and False: - pcd.translate([x_step, 0, 0]) - break - if bbox['x_max'] >= edge_x_max - collision_threshold_init: - pcd.translate([-x_step, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [-x_step, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_init): - pcd.translate([-x_step, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [-x_step, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - break - pcd.translate([x_step, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [x_step, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - # place again - collision_threshold_init = collision_threshold+1 - while True: - bbox = get_axis_aligned_bbox(pcd) - if bbox['y_min'] <= edge_y_min + collision_threshold_init and False: - pcd.translate([0, y_step, 0]) - break - if bbox['y_max'] >= edge_y_max - collision_threshold_init: - pcd.translate([0, -y_step, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step, 0] - T_trans1 = T_transTemp @ T_trans1 - break - if check_collision_all(pcd, pcd_processed_curr,collision_threshold_init): #5 - pcd.translate([0, -y_step, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step, 0] - T_trans1 = T_transTemp @ T_trans1 - break - pcd.translate([0, y_step, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, y_step, 0] - T_trans1 = T_transTemp @ T_trans1 - #""" - pcd_processed.append(pcd) - pcd_processed_x_top.append(pcd) - if not is_x_top: - pcd_processed_no_x_top.append(pcd) - - cross_border = False - bbox = get_axis_aligned_bbox(pcd) - if bbox['x_min'] <= edge_x_min + 1 or bbox['y_min'] <= edge_y_min + 1: - cross_border = True - print("coross_border",ply_file_name) - - print(ply_file_name,"dx",dx,"y_min",get_axis_aligned_bbox(pcd)['y_min'],cross_border) - if (dx <= 120 and get_axis_aligned_bbox(pcd)['y_min'] < 250 and move_last) or cross_border: - last_pcd_list.append(pcd) - dic_last_name[pcd] = ply_file_name - print("last_pcd_list",ply_file_name,"dx",dx,"y_min",get_axis_aligned_bbox(pcd)['y_min']) - else: - # o3d.io.write_point_cloud(os.path.join(output_dir, name_list[idx]), pcd) - dict_compact[ply_file_name] = pcd - last_pcd_processed.append(pcd) - - dict_total_matrix[obj_name]= T_trans1 @ dict_total_matrix[obj_name] - - volumes = [] - for idx, pcd in enumerate(last_pcd_list): - bbox = get_axis_aligned_bbox(pcd) - - x_length = bbox['x_max'] - bbox['x_min'] - y_length = bbox['y_max'] - bbox['y_min'] - z_length = bbox['z_max'] - bbox['z_min'] - volume = x_length * y_length * z_length - volumes.append(volume) - - print(f"last_pcd_list len(last_pcd_list)={len(last_pcd_list)},len(last_pcd_processed)={len(last_pcd_processed)},len(pcd_all)={len(pcd_all)}") - sorted_indices = np.argsort(volumes)[::-1] - last_pcd_list2 = [last_pcd_list[i] for i in sorted_indices] - # last_name_list2 = [last_name_list[i] for i in sorted_indices] - print("last_pcd_list2", len(last_pcd_list2)) - - for idx, pcd in enumerate(last_pcd_list2): - - ply_file_name = dict_name[pcd] - obj_name = ply_file_name.split("=")[0]+".obj" - - print("last_pcd_list2", obj_name) - - T_trans1 = np.eye(4) - - points = np.asarray(pcd.points) - min_x = np.min(points[:, 0]) - max_y = np.max(points[:, 1]) # 当前最大y值 - - tx = edge_x_min - min_x - ty = -max_y - 0.001 - - T_transTemp = move_to_top_left(pcd, edge_x_min+2, edge_y_max-2) - - T_trans1 = T_transTemp @ T_trans1 - - name = dict_name[pcd] - # print("last_pcd_list2",name,"tx",tx,"ty",ty) - succ_move = True - y_accum = 0 - finish_move2 = False - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+1 - if bbox['y_min'] <= edge_y_min + collision_threshold_init: - print("succ_move False",name,bbox['y_min'],edge_y_min + collision_threshold_init) - succ_move = False - finish_move2 = True - - if (finish_move2): - break - else: - if not check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - print("succ_move1",name,bbox['x_max'],bbox['y_max'],len(last_pcd_processed)) - break - - pcd.translate([0, -y_step, 0]) - - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step, 0] - T_trans1 = T_transTemp @ T_trans1 - - y_accum += y_step - - if succ_move: - #print("succ_move2", name) - #""" - x_accu = 0 - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+2 - #print("Move x_step_big", name, bbox['y_max'], bbox['x_max']) - if bbox['x_max'] >= edge_x_max - collision_threshold_init: - pcd.translate([-x_accu, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [-x_accu, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - break - if not check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - x_accu = 0 - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+1 - if bbox['y_max'] >= edge_y_max - collision_threshold_init: - pcd.translate([0, -y_step_big, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - #print("Move y_max", name, bbox['y_max'], bbox['x_max']) - break - if check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - pcd.translate([0, -y_step_big, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - #print("Move y_max2", name, bbox['y_max'], bbox['x_max']) - break - pcd.translate([0, y_step_big, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - #print("Move y_step_big", name, bbox['y_max'], bbox['x_max']) - else: - n = 1 - - x_accu += x_step_big - pcd.translate([x_step_big, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [x_step_big, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - #""" - else: - points = np.asarray(pcd.points) - min_x = np.min(points[:, 0]) - min_y = np.min(points[:, 1]) - tx = edge_x_min - min_x - ty = edge_y_min - min_y - pcd.translate((tx, ty, 0), relative=True) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [tx, ty, 0] - T_trans1 = T_transTemp @ T_trans1 - - print("last place", name) - - #""" - can_place_last = False - x_accu = 0 - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+2 - if bbox['x_max'] >= edge_x_max - collision_threshold_init: - if not can_place_last: - print("fail to place",name) - dict_unplaced[name]=name - else: - pcd.translate([-x_accu, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [-x_accu, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - break - if not check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - can_place_last = True - x_accu = 0 - while True: - bbox = get_axis_aligned_bbox(pcd) - collision_threshold_init = collision_threshold+1 - if bbox['y_max'] >= edge_y_max - collision_threshold_init: - pcd.translate([0, -y_step_big, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - break - if check_collision_all(pcd, last_pcd_processed,collision_threshold_init): - pcd.translate([0, -y_step_big, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, -y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - break - pcd.translate([0, y_step_big, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [0, y_step_big, 0] - T_trans1 = T_transTemp @ T_trans1 - else: - n = 1 - - x_accu += x_step_big - pcd.translate([x_step_big, 0, 0]) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [x_step_big, 0, 0] - T_trans1 = T_transTemp @ T_trans1 - #""" - - last_pcd_processed.append(pcd) - - dict_compact[name] = pcd - - dict_total_matrix[obj_name]= T_trans1 @ dict_total_matrix[obj_name] - -def move_to_top_left(pcd, edge_x_min, edge_y_max): - points = np.asarray(pcd.points) - min_x = np.min(points[:, 0]) - max_y = np.max(points[:, 1]) # 当前最大y值 - - tx = edge_x_min - min_x - # ty = -max_y - 0.001 - ty = edge_y_max - max_y - - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [tx, ty, 0] - - pcd.translate((tx, ty, 0), relative=True) - - return T_transTemp - -def move_to_bottom_left(pcd, edge_x_min, edge_y_min): - - points = np.asarray(pcd.points) - min_x = np.min(points[:, 0]) - min_y = np.min(points[:, 1]) - tx = edge_x_min - min_x - ty = edge_y_min - min_y - pcd.translate((tx, ty, 0), relative=True) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [tx, ty, 0] - - return T_transTemp - -def move_to_bottom_right(pcd, edge_x_max, edge_y_min): - - points = np.asarray(pcd.points) - max_x = np.min(points[:, 0]) - min_y = np.min(points[:, 1]) - tx = edge_x_max - max_x - ty = edge_y_min - min_y - pcd.translate((tx, ty, 0), relative=True) - T_transTemp = np.eye(4) - T_transTemp[:3, 3] = [tx, ty, 0] - - return T_transTemp - -def get_y_centroid(file_path): - pcd = o3d.io.read_point_cloud(file_path) - return np.mean(np.asarray(pcd.points)[:,1]) - -def get_axis_aligned_bbox(pcd): - points = np.asarray(pcd.points) - return { - 'x_min': np.min(points[:,0]), - 'x_max': np.max(points[:,0]), - 'y_min': np.min(points[:,1]), - 'y_max': np.max(points[:,1]), - 'z_min': np.min(points[:,2]), - 'z_max': np.max(points[:,2]) - } - -def check_x_collision(target_bbox, placed_models,collision_threshold=2): - for model in placed_models: - print(target_bbox['x_max'],target_bbox['x_min'],model['bbox']['x_max'],model['bbox']['x_min']) - if (target_bbox['x_max']+collision_threshold > model['bbox']['x_min']): - return True - return False - -def check_y_collision(target_bbox, placed_models,collision_threshold=2): - for model in placed_models: - if (target_bbox['y_max']+collision_threshold > model['bbox']['y_max']): - return True - return False - -def down_sample(pcd, voxel_size, farthest_sample = False): - original_num = len(pcd.points) - target_samples = 1500 # 1000 - num_samples = min(target_samples, original_num) - - # 第一步：使用体素下采样快速减少点数量 - # voxel_size = 3 - if farthest_sample: - pcd_voxel = pcd.farthest_point_down_sample(num_samples=num_samples) - else: - pcd_voxel = pcd.voxel_down_sample(voxel_size) - down_num = len(pcd_voxel.points) - # print(f"original_num={original_num}, down_num={down_num}") - - # 第二步：仅在必要时进行最远点下采样 - if len(pcd_voxel.points) > target_samples and False: - pcd_downsampled = pcd_voxel.farthest_point_down_sample(num_samples=num_samples) - else: - pcd_downsampled = pcd_voxel - - return pcd_downsampled - -def down_obj_data_to_ply(weight_fix_out_obj_dir,weight_fix_out_ply_dir): - """""" - obj_file_list = [aa for aa in os.listdir(weight_fix_out_obj_dir) if aa.endswith(".obj")] - for obj_name in obj_file_list: - obj_path = os.path.join(weight_fix_out_obj_dir,obj_name) - - mesh_obj = read_mesh(obj_path) - - vertices = np.asarray(mesh_obj.vertices) - pcd = o3d.geometry.PointCloud() - pcd.points = o3d.utility.Vector3dVector(vertices) - voxel_size = 3 # 设置体素的大小，决定下采样的密度 - pcd_downsampled = down_sample(pcd, voxel_size) - ply_out_path = os.path.join(weight_fix_out_ply_dir,obj_name.replace(".obj",".ply")) - o3d.io.write_point_cloud(ply_out_path, pcd_downsampled) - print(ply_out_path,"下采样完成。") - -def compute_centroid_compact(pcd): - points = np.asarray(pcd.points) - centroid = np.mean(points, axis=0) - return centroid - -def compute_base_point(pcd): - points = np.asarray(pcd.points) - x_center = np.mean(points[:, 0]) - y_center = np.mean(points[:, 1]) - min_z = np.min(points[:, 2]) - return np.array([x_center, y_center, min_z]) - -import copy -def move_obj_to_compact_bounds(bounds_fix_out_dir,bounds_compact_out_dir,weight_fix_out_obj_dir,base_original_obj_dir,compact_obj_out_dir,dict_mesh_obj,dict_unplaced,placed_remove_dir,dict_bad,bad_dir,full_dir,dict_bounds_fix,dict_compact,dict_origin): - """""" - # obj_file_list = [aa for aa in os.listdir(weight_fix_out_obj_dir) if aa.endswith(".obj")] - obj_file_list = list(dict_mesh_obj.keys()) - ply_path_dict = {} - - # meshes = [] - # for ply_file_name in os.listdir(bounds_fix_out_dir): - for ply_file_name in dict_bounds_fix: - ply_dict_key = ply_file_name.split("=")[0] - ply_path_dict[ply_dict_key] = ply_file_name - for obj_name in obj_file_list: - obj_path = os.path.join(weight_fix_out_obj_dir, obj_name) - - # mesh_obj = read_mesh(obj_path, False) - mesh_obj = dict_mesh_obj[obj_name] - # mesh_obj = dict_origin[obj_origin_path] - - original_obj_pid_dir = base_original_obj_dir - obj_origin_path = os.path.join(original_obj_pid_dir, obj_name) - obj_origin = dict_origin[obj_origin_path] - # obj_origin = copy.deepcopy(dict_origin[obj_origin_path]) - - ply_name_pid = obj_name.replace(".obj","") - # ply_name = ply_path_dict[ply_name_pid] - ply_name = ply_path_dict.get(ply_name_pid,None) - print(ply_name_pid,ply_name) - if ply_name is None: - continue - print("move_obj_to_compact_bounds",ply_name,len(dict_unplaced)) - if not ply_name or ply_name in dict_unplaced: - print("unplaced",ply_name) - continue - ply_fix_path = os.path.join(bounds_fix_out_dir,ply_name) - ply_compact_path = os.path.join(bounds_compact_out_dir, ply_name) - # pcd_fix = o3d.io.read_point_cloud(ply_fix_path) - pcd_fix = dict_bounds_fix[ply_name] - - vertices = np.asarray(obj_origin.vertices) - pcd_origin = o3d.geometry.PointCloud() - pcd_origin.points = o3d.utility.Vector3dVector(vertices) - - # pcd_compact = o3d.io.read_point_cloud(ply_compact_path) - pcd_compact = dict_compact[ply_name] - - centroid_fix = compute_centroid_compact(pcd_fix) - centroid_compact = compute_centroid_compact(pcd_compact) - centroid_origin = compute_centroid_compact(pcd_origin) - displacement = centroid_compact - centroid_fix - # displacement = centroid_compact - centroid_origin - vertices = np.asarray(mesh_obj.vertices) - vertices_translated = vertices + displacement # 将位移应用到每个顶点 - mesh_obj.vertices = o3d.utility.Vector3dVector(vertices_translated) # 更新网格顶点 - - obj_pid = obj_name.split("_P")[0] - #compact_obj_pid_out_dir = os.path.join(compact_obj_out_dir,obj_pid) - compact_obj_pid_out_dir= compact_obj_out_dir - if not os.path.exists(compact_obj_pid_out_dir): - os.makedirs(compact_obj_pid_out_dir) - obj_path_compact = os.path.join(compact_obj_pid_out_dir,obj_name) - mesh_obj.compute_vertex_normals() - o3d.io.write_triangle_mesh(obj_path_compact, mesh_obj,write_triangle_uvs=True) - print(obj_path_compact, "移动后obj保存完成", displacement) - - # meshes.append(mesh_obj) - - #original_obj_pid_dir = os.path.join(base_original_obj_dir,obj_pid) - original_obj_pid_dir = base_original_obj_dir - for mtl in os.listdir(compact_obj_pid_out_dir): - if mtl.endswith(".mtl"): - if obj_pid in mtl: - mtl_path = os.path.join(compact_obj_pid_out_dir,mtl) - os.remove(mtl_path) - - mtl_name = None - tex_name = None - for file_name in os.listdir(original_obj_pid_dir): - if file_name.endswith(".mtl"): - if obj_pid in file_name: - mtl_name = file_name - if file_name.endswith(".jpg"): - if obj_pid in file_name: - tex_name = file_name - if file_name.endswith(".png"): - if obj_pid in file_name: - tex_name = file_name - - for file in os.listdir(original_obj_pid_dir): - #print(f"file{file}") - if file.endswith(".obj"): - continue - if obj_pid not in file: - continue - - origin_path = os.path.join(original_obj_pid_dir,file) - dis_path = os.path.join(compact_obj_pid_out_dir,file) - - if os.path.isfile(origin_path): - #print(f'origin_path{origin_path}') - #print(f'dis_path{dis_path}') - shutil.copy(origin_path,dis_path) - time.sleep(1) - #print("-"*50) - base_origin_obj_path = os.path.join(original_obj_pid_dir,obj_name) - #print(f"base_origin_obj_path{base_origin_obj_path}") - #print(f"obj_path_compact{obj_path_compact}") - update_obj_file(base_origin_obj_path, obj_path_compact) - - placed_remove_obj_path = os.path.join(placed_remove_dir, obj_name) - shutil.copy(base_origin_obj_path,placed_remove_obj_path) - os.remove(base_origin_obj_path) - - exist_obj_any = False - exist_obj = False - delete_mtl = False - for file_name in os.listdir(original_obj_pid_dir): - if file_name.endswith(".obj"): - if obj_pid in file_name: - exist_obj = True - exist_obj_any = True - - if not exist_obj_any: - delete_mtl = True - if not exist_obj: - delete_mtl = True - - if delete_mtl: - print("delete_mtl",mtl_name,tex_name) - if mtl_name!=None: - base_origin_mtl_path = os.path.join(original_obj_pid_dir,mtl_name) - placed_remove_mtl_path = os.path.join(placed_remove_dir, mtl_name) - shutil.copy(base_origin_mtl_path,placed_remove_mtl_path) - os.remove(base_origin_mtl_path) - - if tex_name!=None: - base_origin_tex_path = os.path.join(original_obj_pid_dir,tex_name) - placed_remove_tex_path = os.path.join(placed_remove_dir, tex_name) - shutil.copy(base_origin_tex_path,placed_remove_tex_path) - os.remove(base_origin_tex_path) - - """ - # 创建可视化窗口 - vis = o3d.visualization.Visualizer() - vis.create_window(window_name='模型展示') - - # 添加所有模型到场景 - for mesh in meshes: - vis.add_geometry(mesh) - - # 设置相机视角 - vis.get_render_option().mesh_show_back_face = True - vis.get_render_option().light_on = True - - # 运行可视化 - vis.run() - vis.destroy_window() - """ - - print(f"排版错误模型数量：：{len(dict_bad)}") - for obj_name in dict_bad: - print("--错误模型名：", obj_name) - process_obj_files(original_obj_pid_dir,bad_dir,obj_name) - - print(f"排版剩余模型数量：：{len(dict_unplaced)}") - for ply_file_name in dict_unplaced: - obj_name = ply_file_name.split("=")[0]+".obj" - print("--剩余模型名：", obj_name) - process_obj_files(original_obj_pid_dir,full_dir,obj_name) - -import json - -def extract_angles(R): - # 提取绕X、Y、Z轴的旋转角度（弧度） - rx_rad = np.arctan2(R[2, 1], R[2, 2]) # X轴旋转 - ry_rad = np.arcsin(-R[2, 0]) # Y轴旋转 - rz_rad = np.arctan2(R[1, 0], R[0, 0]) # Z轴旋转 - - # 将弧度转换为角度（度数） - rx_deg = np.degrees(rx_rad) - ry_deg = np.degrees(ry_rad) - rz_deg = np.degrees(rz_rad) - - return rx_deg, ry_deg, rz_deg - -def compute_mesh_center(vertices): - """ - 计算网格质心 - - 参数: - vertices: 顶点坐标数组，形状为(N, 3)的NumPy数组或列表 - - 返回: - centroid: 质心坐标的NumPy数组 [x, y, z] - """ - if len(vertices) == 0: - raise ValueError("顶点数组不能为空") - - n = len(vertices) # 顶点数量 - # 初始化坐标累加器 - sum_x, sum_y, sum_z = 0.0, 0.0, 0.0 - - # 遍历所有顶点累加坐标值 - for vertex in vertices: - sum_x += vertex[0] - sum_y += vertex[1] - sum_z += vertex[2] - - # 计算各坐标轴的平均值 - centroid = np.array([sum_x / n, sum_y / n, sum_z / n]) - return centroid - -import re -def extract_numbers_from_filename(filename): - """ - 从文件名中提取893333, 338908, 105043和x后面的数字 - """ - # 提取前两个下划线前的数字 - first_part = re.findall(r'^(\d+)_(\d+)', filename) - if first_part: - num1, num2 = first_part[0] - else: - num1, num2 = None, None - - # 提取P后面的数字 - p_number = re.findall(r'P(\d+)', filename) - num3 = p_number[0] if p_number else None - - # 提取x后面的数字 - x_number = re.findall(r'x(\d+)', filename) - num4 = x_number[0] if x_number else None - - return [num for num in [num1, num2, num3, num4] if num is not None] - -import requests -def move_obj_to_compact_bounds_json(bounds_fix_out_dir, bounds_compact_out_dir, weight_fix_out_obj_dir, - base_original_obj_dir, compact_obj_out_dir, dict_mesh_obj,dict_unplaced, - placed_remove_dir, dict_bad, bad_dir, full_dir,dict_best_angel,dict_bounds_fix, - dict_compact,dict_origin,dict_total_matrix,save_mesh,cache_type_setting_dir,batch_id, print_start_time,selected_machine,selected_mode,version): - """生成3D打印布局的JSON数据并保存为3DPrintLayout.json""" - # 创建符合3DPrintLayout规范的JSON数据结构 - layout_data = { - "summary": { - "version": version, - "homo_matrix": "Homogeneous Matrix", - "precision": 6, - "selected_machine": selected_machine, - "selected_mode": selected_mode - }, - "models": [] - } - - send_layout_data={ - "data": [], - "pre_complate_time": 0.0, - "pre_batch_id": batch_id, - "type_setting_start_time": print_start_time - } - - print("is_test=", is_test) - if is_test: - is_send_layout_data = False - else: - is_send_layout_data = True - # is_send_layout_data = False - - obj_file_list = list(dict_mesh_obj.keys()) - ply_path_dict = {} - meshes = [] - - original_obj_pid_dir = base_original_obj_dir - - # 构建PLY文件路径映射 - # for ply_file_name in os.listdir(bounds_fix_out_dir): - for ply_file_name in dict_bounds_fix: - ply_dict_key = ply_file_name.split("=")[0] - ply_path_dict[ply_dict_key] = ply_file_name - - for obj_name in obj_file_list: - ply_name_pid = obj_name.replace(".obj", "") - ply_name = ply_path_dict.get(ply_name_pid, None) - - if is_send_layout_data: - result = extract_numbers_from_filename(ply_name) - - if not ply_name or ply_name in dict_unplaced: - - if is_send_layout_data: - print_id = result[2] - order_id = result[0] - status = 0 - pid = result[1] - counts = result[3] - send_layout_data["data"].append({ - "print_id": print_id, - "order_id": order_id, - "status": status, - "pid":pid, - "counts":counts}) - - continue # 跳过未放置的模型 - - total_matrix = dict_total_matrix[obj_name] - - # if save_mesh: - # print("do save mesh here") - - flattened = total_matrix.flatten()[:16] - - matrix_4x4 = [ - [round(flattened[i], 6) for i in range(0, 4)], # 第1行 - [round(flattened[i], 6) for i in range(4, 8)], # 第2行 - [round(flattened[i], 6) for i in range(8, 12)], # 第3行 - [round(flattened[i], 6) for i in range(12, 16)] # 第4行 - ] - - layout_data["models"].append({ - "file_name": obj_name, - "transform": { - "homo_matrix": matrix_4x4 - } - }) - - if is_send_layout_data: - print_id = result[2] - order_id = result[0] - status = 1 - pid = result[1] - counts = result[3] - send_layout_data["data"].append({ - "print_id": print_id, - "order_id": order_id, - "status": status, - "pid":pid, - "counts":counts}) - - # 保存JSON文件 - # json_path = os.path.join(base_original_obj_dir, "3DPrintLayout.json") - json_path = os.path.join(base_original_obj_dir, f"{batch_id}.json") - - """ - if is_send_layout_data: - print(f"send_layout_data={send_layout_data}") - url = 'https://mp.api.suwa3d.com/api/printTypeSettingOrder/printTypeSettingOrderSuccess' - # url = 'http://127.0.0.1:8199/api/typeSettingPrintOrder/printTypeSettingOrderSuccess' - try: - response = requests.post(url, json.dumps(send_layout_data), timeout=30) - #写入文件中 log/request.txt - # with open('log/request.txt', 'w+') as f: - # f.write(json.dumps(send_layout_data, ensure_ascii=False, indent=2)) - # 检查响应状态码 - if response.status_code == 200: - try: - result = response.json() - print(f"请求成功，返回结果: {result}") - except ValueError as e: - print(f"响应不是有效的JSON格式: {e}") - print(f"响应内容: {response.text}") - else: - print(f"请求失败，状态码: {response.status_code}") - print(f"响应内容: {response.text}") - except requests.exceptions.Timeout: - print(f"请求超时: 连接 {url} 超过30秒未响应") - except requests.exceptions.ConnectionError as e: - print(f"连接错误: 无法连接到服务器 {url}, 错误信息: {e}") - except requests.exceptions.RequestException as e: - print(f"请求异常: {e}") - except Exception as e: - print(f"未知错误: {e}") - """ - - import re - json_str = json.dumps(layout_data, ensure_ascii=False, indent=2) - json_str = re.sub( - r'\[\s*(-?[\d.]+),\s+(-?[\d.]+),\s+(-?[\d.]+),\s+(-?[\d.]+)\s*\]', - r'[\1,\2,\3,\4]', - json_str - ) - with open(json_path, "w", encoding='utf-8') as f: - f.write(json_str) - - print(f"3D打印布局已保存至: {json_path}") - - print(f"排版错误模型数量：：{len(dict_bad)}") - for obj_name in dict_bad: - print("--错误模型名：", obj_name) - process_obj_files(original_obj_pid_dir,bad_dir,obj_name) - - print(f"排版剩余模型数量：：{len(dict_unplaced)}") - for ply_file_name in dict_unplaced: - obj_name = ply_file_name.split("=")[0]+".obj" - print("--剩余模型名：", obj_name) - process_obj_files(original_obj_pid_dir,full_dir,obj_name) - - if save_mesh: - transform_save(layout_data, original_obj_pid_dir, cache_type_setting_dir) - - """ - # 小打印机380*345，需要偏移-380,-345 - need_offset = True - for model in layout_data["models"]: - transform = model.get('transform', {}) - - homo_matrix = transform["homo_matrix"] # 获取存储的列表 - reconstructed_matrix = np.array(homo_matrix, dtype=np.float64) - - obj_name = model.get('file_name', '') - obj_path = os.path.join(original_obj_pid_dir, obj_name) - # 加载网格 - try: - mesh = o3d.io.read_triangle_mesh(obj_path, enable_post_processing=True) - if not mesh.has_vertices(): - print(f"警告: 网格无有效顶点 - {obj_path}") - continue - except Exception as e: - print(f"加载模型失败: {obj_path} - {e}") - continue - - original_vertices = np.asarray(mesh.vertices) - - transformed_vertices = custom_mesh_transform(original_vertices, reconstructed_matrix) - # 如果 need_offset 为 True，应用额外的偏移 - if need_offset: - # 应用偏移 (-380, -345, 0) - offset = np.array([-380, -345, 0]) - transformed_vertices += offset - print(f"已对模型 {obj_name} 应用偏移: {offset}") - - mesh.vertices = o3d.utility.Vector3dVector(transformed_vertices) - - meshes.append(mesh) - - # obj_path_arrange = os.path.join(original_obj_pid_dir, "arrange") - obj_path_arrange = cache_type_setting_dir - if not os.path.exists(obj_path_arrange): - os.mkdir(obj_path_arrange) - obj_path_arrange_obj = os.path.join(obj_path_arrange, obj_name) - print("obj_path_arrange_obj", obj_path_arrange_obj) - mesh.compute_vertex_normals() - o3d.io.write_triangle_mesh(obj_path_arrange_obj, mesh,write_triangle_uvs=True) - # """ - - return layout_data, send_layout_data - -#""" -def transform_save(layout_data, original_obj_pid_dir, cache_type_setting_dir): - print(f"original_obj_pid_dir={original_obj_pid_dir}, cache_type_setting_dir={cache_type_setting_dir}") - meshes = [] - # 小打印机380*345，需要偏移-380,-345 - need_offset = True - for model in layout_data["models"]: - transform = model.get('transform', {}) - - homo_matrix = transform["homo_matrix"] # 获取存储的列表 - reconstructed_matrix = np.array(homo_matrix, dtype=np.float64) - - obj_name = model.get('file_name', '') - obj_path = os.path.join(original_obj_pid_dir, obj_name) - # 加载网格 - try: - mesh = o3d.io.read_triangle_mesh(obj_path, enable_post_processing=True) - if not mesh.has_vertices(): - print(f"警告: 网格无有效顶点 - {obj_path}") - continue - except Exception as e: - print(f"加载模型失败: {obj_path} - {e}") - continue - - original_vertices = np.asarray(mesh.vertices) - - transformed_vertices = custom_mesh_transform(original_vertices, reconstructed_matrix) - # 如果 need_offset 为 True，应用额外的偏移 - if need_offset: - # 应用偏移 (-380, -345, 0) - offset = np.array([-380, -345, 0]) - transformed_vertices += offset - print(f"已对模型 {obj_name} 应用偏移: {offset}") - - mesh.vertices = o3d.utility.Vector3dVector(transformed_vertices) - - meshes.append(mesh) - - # obj_path_arrange = os.path.join(original_obj_pid_dir, "arrange") - obj_path_arrange = cache_type_setting_dir - if not os.path.exists(obj_path_arrange): - os.mkdir(obj_path_arrange) - obj_path_arrange_obj = os.path.join(obj_path_arrange, obj_name) - # print("obj_path_arrange_obj", obj_path_arrange_obj) - - mesh.compute_vertex_normals() - o3d.io.write_triangle_mesh(obj_path_arrange_obj, mesh, write_triangle_uvs=True) -#""" - -#""" -def transform_save2(layout_data, original_obj_pid_dir, cache_type_setting_dir): - print(f"original_obj_pid_dir={original_obj_pid_dir}, cache_type_setting_dir={cache_type_setting_dir}") - - # 确保输出目录存在 - os.makedirs(cache_type_setting_dir, exist_ok=True) - - # 小打印机380 * 345，需要偏移-380,-345 - need_offset = True - - for model in layout_data["models"]: - transform = model.get('transform', {}) - homo_matrix = transform["homo_matrix"] - reconstructed_matrix = np.array(homo_matrix, dtype=np.float64) - - obj_name = model.get('file_name', '') - obj_path = os.path.join(original_obj_pid_dir, obj_name) - - # 1. 加载原始网格 - try: - mesh = o3d.io.read_triangle_mesh(obj_path, enable_post_processing=True) - if not mesh.has_vertices(): - print(f"警告: 网格无有效顶点 - {obj_path}") - continue - except Exception as e: - print(f"加载模型失败: {obj_path} - {e}") - continue - - # 2. 应用顶点变换 - original_vertices = np.asarray(mesh.vertices) - transformed_vertices = custom_mesh_transform(original_vertices, reconstructed_matrix) - - if need_offset: - offset = np.array([-380, -345, 0]) - transformed_vertices += offset - print(f"已对模型 {obj_name} 应用偏移: {offset}") - - mesh.vertices = o3d.utility.Vector3dVector(transformed_vertices) - - # 3. 计算顶点法线 - mesh.compute_vertex_normals() - - # 4. 构建输出路径 - obj_path_arrange_obj = os.path.join(cache_type_setting_dir, obj_name) - print("保存路径:", obj_path_arrange_obj) - - # 5. 关键步骤：直接写入OBJ文件，只包含几何数据 - write_obj_without_new_materials(mesh, obj_path_arrange_obj, obj_path) - - post_process_obj_to_use_original_mtl(obj_path, obj_path_arrange_obj) - - print(f"模型 {obj_name} 处理完成，已保留原始材质") - -def write_obj_without_new_materials(mesh, output_obj_path, original_obj_path): - """ - 只写入几何数据（顶点、面、法线、UV），不生成新的材质文件 - """ - # 读取原始OBJ文件中的材质引用 - original_mtl_ref = get_original_mtl_reference(original_obj_path) - - # 写入新的OBJ文件 - with open(output_obj_path, 'w', encoding='utf-8') as f: - # 写入原始材质引用（如果存在） - # print(f"original_mtl_ref={original_mtl_ref}") - if original_mtl_ref: - f.write(f"mtllib {original_mtl_ref}\n") - - # 写入顶点 - vertices = np.asarray(mesh.vertices) - for v in vertices: - f.write(f"v {v[0]:.4f} {v[1]:.4f} {v[2]:.4f}\n") - - # 写入顶点法线 - if mesh.has_vertex_normals(): - normals = np.asarray(mesh.vertex_normals) - for n in normals: - f.write(f"vn {n[0]:.4f} {n[1]:.4f} {n[2]:.4f}\n") - - # 写入纹理坐标（UV） - # print(f"has_triangle_uvs={mesh.has_triangle_uvs}") - if mesh.has_triangle_uvs(): - uvs = np.asarray(mesh.triangle_uvs) - for uv in uvs: - f.write(f"vt {uv[0]:.4f} {uv[1]:.4f}\n") - - # 写入面 - triangles = np.asarray(mesh.triangles) - uv_indices = np.arange(len(triangles) * 3).reshape(-1, 3) if mesh.has_triangle_uvs() else None - - for i, tri in enumerate(triangles): - v1, v2, v3 = tri + 1 # OBJ索引从1开始 - - if mesh.has_vertex_normals() and mesh.has_triangle_uvs(): - # 顶点索引/纹理索引/法线索引 - uv1, uv2, uv3 = uv_indices[i] + 1 - f.write(f"f {v1}/{uv1}/{v1} {v2}/{uv2}/{v2} {v3}/{uv3}/{v3}\n") - elif mesh.has_vertex_normals(): - f.write(f"f {v1}//{v1} {v2}//{v2} {v3}//{v3}\n") - elif mesh.has_triangle_uvs(): - uv1, uv2, uv3 = uv_indices[i] + 1 - f.write(f"f {v1}/{uv1} {v2}/{uv2} {v3}/{uv3}\n") - else: - f.write(f"f {v1} {v2} {v3}\n") - -def get_original_mtl_reference(original_obj_path): - """ - 从原始OBJ文件中提取mtllib引用 - """ - if not os.path.exists(original_obj_path): - return None - - with open(original_obj_path, 'r', encoding='utf-8') as f: - for line in f: - if line.startswith('mtllib'): - return line.split()[1] # 返回mtllib后面的文件名 - return None - -def post_process_obj_to_use_original_mtl(original_obj_path, new_obj_path): - """ - 后处理OBJ文件，使其引用原始的MTL材质库而非新生成的。 - """ - original_mtl_name = None - original_dir = os.path.dirname(original_obj_path) - - # 读取原始OBJ文件，查找其使用的MTL材质库名称 - if os.path.exists(original_obj_path): - with open(original_obj_path, 'r', encoding='utf-8') as f: - for line in f: - line = line.strip() - if line.startswith('mtllib'): - original_mtl_name = line.split()[1] # 获取mtllib后面的文件名 - break - - # 如果找到了原始MTL引用，并且该MTL文件存在，则复制它到新位置 - if original_mtl_name: - original_mtl_path = os.path.join(original_dir, original_mtl_name) - new_dir = os.path.dirname(new_obj_path) - new_mtl_path = os.path.join(new_dir, original_mtl_name) - - # 复制MTL文件 - if os.path.exists(original_mtl_path): - shutil.copy2(original_mtl_path, new_mtl_path) - print(f"已复制材质文件: {original_mtl_path} -> {new_mtl_path}") - - # 同时复制MTL中引用的所有纹理图片 - copy_textures_referenced_in_mtl(original_mtl_path, original_dir, new_dir) - - # 读取新OBJ文件内容，修改mtllib行指向原始的材质库 - if os.path.exists(new_obj_path): - with open(new_obj_path, 'r', encoding='utf-8') as f: - content = f.readlines() - - # 修改内容：将mtllib行指向原始材质库 - with open(new_obj_path, 'w', encoding='utf-8') as f: - for line in content: - if line.startswith('mtllib'): - f.write(f'mtllib {original_mtl_name}\n') - else: - f.write(line) - -def copy_textures_referenced_in_mtl(mtl_path, original_dir, new_dir): - """ - 复制MTL文件中引用的所有纹理图片。 - """ - try: - with open(mtl_path, 'r', encoding='utf-8') as f: - for line in f: - line = line.strip() - # 查找纹理贴图定义（常见的贴图类型） - if any(line.startswith(keyword) for keyword in ['map_Kd', 'map_Ks', 'map_Ka', 'map_bump', 'map_d']): - parts = line.split() - if len(parts) >= 2: - tex_name = parts[1] - original_tex_path = os.path.join(original_dir, tex_name) - new_tex_path = os.path.join(new_dir, tex_name) - - if os.path.exists(original_tex_path): - shutil.copy2(original_tex_path, new_tex_path) - print(f"已复制纹理文件: {original_tex_path} -> {new_tex_path}") - except Exception as e: - print(f"处理材质文件 {mtl_path} 时出错: {e}") -#""" - -#""" -#""" - -def process_obj_files(original_obj_pid_dir,placed_remove_dir,obj_name): - """ - 处理OBJ文件及其相关资源文件的复制、更新和清理 - - 参数: - original_obj_pid_dir: 包含原始OBJ文件的目录 - placed_remove_dir: 用于存放移除文件的目录 - obj_name: 要处理的OBJ文件名 - """ - - base_origin_obj_path = os.path.join(original_obj_pid_dir,obj_name) - - # 从obj_name中提取PID（产品ID） - obj_pid = obj_name.split("_P")[0] - - # 查找相关的MTL和纹理文件 - mtl_name = None - tex_name = None - - for file_name in os.listdir(original_obj_pid_dir): - - if file_name.endswith(".mtl") and obj_pid in file_name: - mtl_name = file_name - - if (file_name.endswith(".jpg") or file_name.endswith(".png")) and obj_pid in file_name: - tex_name = file_name - - # 将原始OBJ文件移动到移除目录 - placed_remove_obj_path = os.path.join(placed_remove_dir, obj_name) - shutil.copy(base_origin_obj_path, placed_remove_obj_path) - os.remove(base_origin_obj_path) - - # 检查目录中是否还有其他OBJ文件 - exist_obj_any = False - exist_obj = False - - for file_name in os.listdir(original_obj_pid_dir): - if file_name.endswith(".obj"): - exist_obj_any = True - if obj_pid in file_name: - exist_obj = True - - # 确定是否需要删除MTL和纹理文件 - delete_mtl = not exist_obj_any or not exist_obj - - # 如果确定要删除，移动MTL和纹理文件 - if delete_mtl: - if mtl_name: - base_origin_mtl_path = os.path.join(original_obj_pid_dir, mtl_name) - placed_remove_mtl_path = os.path.join(placed_remove_dir, mtl_name) - shutil.copy(base_origin_mtl_path, placed_remove_mtl_path) - os.remove(base_origin_mtl_path) - - if tex_name: - base_origin_tex_path = os.path.join(original_obj_pid_dir, tex_name) - placed_remove_tex_path = os.path.join(placed_remove_dir, tex_name) - shutil.copy(base_origin_tex_path, placed_remove_tex_path) - os.remove(base_origin_tex_path) - -def update_obj_file(original_obj_path,compact_obj_path): - """""" - with open(original_obj_path, "r") as f: - lines_original = f.readlines() - mtllib_name = None - mat_name = None - for line in lines_original: - if line.startswith("mtllib"): - mtllib_name = line.split(" ")[1] - elif line.startswith("usemtl"): - mat_name = line.split(" ")[1] - if mtllib_name and mat_name: - break - with open(compact_obj_path, "r") as f: - lines = f.readlines() - new_lines = [] - for line2 in lines: - if line2.startswith("mtllib"): - line2 = f"mtllib {mtllib_name}\n" # 替换为原始 MTL 文件路径 - elif line2.startswith("usemtl"): - line2 = f"usemtl {mat_name}\n" # 替换为原始贴图路径 - new_lines.append(line2) - with open(compact_obj_path, "w") as f: - f.writelines(new_lines) - -def import_and_process_obj(input_obj_file, output_obj_file, xiong_zhang): - # 清除现有对象 - bpy.ops.object.select_all(action='SELECT') - bpy.ops.object.delete(use_global=False) - - # 导入OBJ文件 - bpy.ops.wm.obj_import(filepath=input_obj_file) - bpy.context.object.name = 'body' - - parent_dir = os.path.dirname(input_obj_file) - # 查找 parent_dir 目录中的 .jpg 文件，并设置为材质的贴图 - for file in os.listdir(parent_dir): - if file.endswith('.jpg'): - texture_path = os.path.join(parent_dir, file) - break - materials = bpy.data.materials - for material in materials: - # 确保材质使用节点树 - if not material.use_nodes: - material.use_nodes = True - - node_tree = material.node_tree - texture_node = node_tree.nodes.new(type='ShaderNodeTexImage') - texture_node.image = bpy.data.images.load(texture_path) - - bsdf_node = node_tree.nodes.get('Principled BSDF') - if bsdf_node: - node_tree.links.new(bsdf_node.inputs['Base Color'], texture_node.outputs['Color']) - - bpy.ops.wm.obj_export(filepath=output_obj_file) - -def pass_for_min_dis(bounds_fix_out_dir,bounds_compact_out_dir, placed_models, dict_unplaced,dict_bounds_fix, dict_compact): - """ - for ply in os.listdir(bounds_fix_out_dir): - original_ply_path = os.path.join(bounds_fix_out_dir,ply) - dis_ply_path = os.path.join(bounds_compact_out_dir,ply) - shutil.copy(original_ply_path,dis_ply_path) - """ - for ply in dict_bounds_fix: - dict_compact[ply] = dict_bounds_fix[ply] - - pcd_all = [] - name_list = [] - model_list = [] - - for model in placed_models: - ply_origin_path = os.path.join(bounds_fix_out_dir,model['name']) - # pcd = o3d.io.read_point_cloud(ply_origin_path) - pcd = dict_bounds_fix[model['name']] - pcd_all.append(pcd) - name_list.append(model['name']) - model_list.append(model) - - for idx, pcd in enumerate(pcd_all): - y = model_list[idx]['position'][1] - dx = model_list[idx]['dimensions'][0] - dy = model_list[idx]['dimensions'][1] - # print("pass_for_min_dis", name_list[idx], y, dy) - - delta_y = 20 - # safe_y = y - delta_y - safe_y = y - dy - delta_y - min_y = 0 - if safe_y < min_y: - name = name_list[idx] - print("fail to place (x=0)", name_list[idx], y, dy) - dict_unplaced[name]=name - -def bake_textures(obj): - # 设置烘焙参数 - bpy.context.scene.render.engine = 'CYCLES' - bpy.context.scene.cycles.bake_type = 'DIFFUSE' - - # 创建贴图图像 - image = bpy.data.images.new("BakedTexture", 1024, 1024) - - # 执行烘焙 - bpy.ops.object.bake( - type='DIFFUSE', - pass_filter={'COLOR'}, - filepath=image.filepath - ) - - return image - -if __name__ == '__main__': - out_dir = "/data/datasets_20t/type_setting_test_data/" - weight_fix_out_obj_dir = f"{out_dir}/print_weight_fix_data_obj" - weight_fix_out_ply_dir = f"{out_dir}/data/datasets_20t/type_setting_test_data/print_weight_fix_data_ply" - print_factory_type_dir="/root/print_factory_type" - base_original_obj_dir="{print_factory_type_dir}/8/" - if not os.path.exists(weight_fix_out_ply_dir): - os.makedirs(weight_fix_out_ply_dir) - bounds_fix_out_dir = f"{out_dir}/print_bounds_fix_data" - bounds_compact_out_dir = f"{out_dir}/print_bounds_compact_data" - compact_obj_out_dir = f"{out_dir}//print_compact_obj" - if not os.path.exists(bounds_fix_out_dir): - os.mkdir(bounds_fix_out_dir) - if not os.path.exists(bounds_compact_out_dir): - os.makedirs(bounds_compact_out_dir) - if not os.path.exists(compact_obj_out_dir): - os.makedirs(compact_obj_out_dir) - - move_obj_to_compact_bounds(bounds_fix_out_dir,bounds_compact_out_dir,weight_fix_out_obj_dir,base_original_obj_dir,compact_obj_out_dir) \ No newline at end of file diff --git a/print_setting_run.py b/print_setting_run.py deleted file mode 100644 index 4b303ab..0000000 --- a/print_setting_run.py +++ /dev/null @@ -1,127 +0,0 @@ -# -*- coding: utf-8 -*- -import pandas as pd -from threading import Thread -from PyQt5.QtWidgets import QApplication, QMainWindow,QMessageBox -from print_setting_ui import Ui_MainWindow -from PyQt5.QtGui import QFont -from PySide2.QtCore import Signal,QObject -from PyQt5.QtCore import QThread, pyqtSignal, QProcess -import sys -import os -import warnings -import time -import time -from PyQt5.QtWidgets import (QApplication, QWidget, QPushButton, QLabel, - QVBoxLayout, QFileDialog, QMessageBox) -from threading import Thread -from print_factory_type_setting_obj_run import print_type_setting_obj - -warnings.filterwarnings('ignore') -pd.set_option('display.width', None) - - -class MySignals(QObject): - text_print = Signal(str) - update_table = Signal(str) - - -class MyMainForm(QMainWindow, Ui_MainWindow): - def __init__(self,parent=None): - super(MyMainForm, self).__init__(parent) - self.setupUi(self) - self.folder_path = "" - self.cache_path = "" - self.pushButton.clicked.connect(self.on_select_folder) - self.pushButton_2.clicked.connect(self.on_run_clicked) - self.pushButton_3.clicked.connect(self.on_open_output_clicked) - self.global_ms = MySignals() - self.global_ms.text_print.connect(self.printToGui) - - def printToGui(self,text): - n_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime()) - self.textBrowser.append(n_time+" "+str(text)) - - def on_select_folder(self): - folder = QFileDialog.getExistingDirectory(self, "选择文件夹") - if folder: - self.folder_path = folder - #self.folder_path_label.setText(f"📂 当前选择文件夹: {folder}") - #self.run_status_label.setText("") - self.cache_path = folder + "_arrange" - os.makedirs(self.cache_path, exist_ok=True) - - def on_run_clicked(self): - - def threadFunc1(): - if not self.folder_path: - #self.run_status_label.setText("❗请先选择一个文件夹再执行！") - return - - # if hasattr(self, 'worker') and self.worker.isRunning(): - # self.run_status_label.setText("⚠️ 正在执行中，请稍候...") - # return - #self.run_btn.setEnabled(False) - #self.run_status_label.setText("🚀 程序正在运行，请稍候...") - - print_type_setting_obj( - base_original_obj_dir=self.folder_path, - cache_type_setting_dir=self.cache_path, - show_chart=False - ) - - #self.run_status_label.setText("✅ 排版完成！") - - thread = Thread(target=threadFunc1) - thread.start() - - def open_file_cross_platform(self, path): - if not os.path.exists(path): - print("路径不存在！") - return - if sys.platform.startswith('win'): - os.startfile(path) - elif sys.platform.startswith('darwin'): - QProcess.startDetached("open", [path]) - else: - QProcess.startDetached("xdg-open", [path]) - - def on_open_output_clicked(self): - output_path = os.path.join(self.cache_path, "print_compact_obj") - if os.path.exists(output_path): - self.open_file_cross_platform(output_path) - else: - self.run_status_label.setText("⚠️ 输出文件夹不存在！") - - - def douyin_spider_go(self): - """下载抖音视频""" - def threadFunc1(): - print("开始下载") - self.load_chrome_video() - thread = Thread(target=threadFunc1) - thread.start() - #thread.run() - - def open_config_dir(self): - """打开文件夹""" - def threadFunc1(): - try: - start_directory = os.path.join(self.dir_base) - os.startfile(start_directory) - except RecursionError: - print("打开配置文件夹失败。") - thread = Thread(target=threadFunc1) - thread.start() - - - - - -if __name__ == '__main__': - #multiprocessing.freeze_support() - app = QApplication(sys.argv) - myWin = MyMainForm() - myWin.show() - sys.exit(app.exec_()) - - diff --git a/print_setting_ui.py b/print_setting_ui.py deleted file mode 100644 index d3c139f..0000000 --- a/print_setting_ui.py +++ /dev/null @@ -1,51 +0,0 @@ -# -*- coding: utf-8 -*- - -# Form implementation generated from reading ui file 'dou_spider_ui.ui' -# -# Created by: PyQt5 UI code generator 5.15.4 -# -# WARNING: Any manual changes made to this file will be lost when pyuic5 is -# run again. Do not edit this file unless you know what you are doing. - - -from PyQt5 import QtCore, QtGui, QtWidgets - - -class Ui_MainWindow(object): - def setupUi(self, MainWindow): - MainWindow.setObjectName("MainWindow") - MainWindow.resize(300, 150) - self.centralwidget = QtWidgets.QWidget(MainWindow) - self.centralwidget.setObjectName("centralwidget") - self.verticalLayout = QtWidgets.QVBoxLayout(self.centralwidget) - self.verticalLayout.setObjectName("verticalLayout") - #self.folder_path_label = QLabel("📁 请选择要排版的文件夹") - #self.folder_path_label.setWordWrap(True) - # 按钮布局 - self.pushButton = QtWidgets.QPushButton(self.centralwidget) - self.pushButton.setObjectName("pushButton") - self.verticalLayout.addWidget(self.pushButton) - - self.pushButton_2 = QtWidgets.QPushButton(self.centralwidget) - self.pushButton_2.setObjectName("pushButton_2") - self.verticalLayout.addWidget(self.pushButton_2) - - self.pushButton_3 = QtWidgets.QPushButton(self.centralwidget) - self.pushButton_3.setObjectName("pushButton_3") - self.verticalLayout.addWidget(self.pushButton_3) - - MainWindow.setCentralWidget(self.centralwidget) - self.statusbar = QtWidgets.QStatusBar(MainWindow) - self.statusbar.setObjectName("statusbar") - MainWindow.setStatusBar(self.statusbar) - - self.retranslateUi(MainWindow) - QtCore.QMetaObject.connectSlotsByName(MainWindow) - - def retranslateUi(self, MainWindow): - _translate = QtCore.QCoreApplication.translate - MainWindow.setWindowTitle(_translate("MainWindow", "自动排版工具")) - self.pushButton.setText(_translate("MainWindow", "选择文件夹")) - self.pushButton_2.setText(_translate("MainWindow", "开始自动排版")) - self.pushButton_3.setText(_translate("MainWindow", "打开排版好的文件夹")) - diff --git a/print_show_weight_max_obj.py b/print_show_weight_max_obj.py index 695094e..61b34a1 100644 --- a/print_show_weight_max_obj.py +++ b/print_show_weight_max_obj.py @@ -17,10 +17,7 @@ from multiprocessing import Pool, RawArray import ctypes import itertools -from get_lowest_position_of_center_ext import get_lowest_position_of_center_ext -from get_lowest_position_of_center_ext import get_lowest_position_of_center_ext2 -from get_lowest_position_of_center_ext import get_lowest_position_of_center_ext3 -from get_lowest_position_of_center_ext import get_lowest_position_of_center_net +from compute_print_net import down_sample def make_pcd_plane(): # 创建Y=0的平面点云 @@ -360,22 +357,6 @@ def parallel_rotation4(points, angle_step=4): #""" -def read_mesh(obj_path, simple=True): - mesh_obj = o3d.io.read_triangle_mesh(obj_path, enable_post_processing=True) # - return mesh_obj - if not simple: - return mesh_obj - original_triangles = len(mesh_obj.triangles) - target_triangles = original_triangles if original_triangles <= 10000 else 10000 - if original_triangles > 10000: - mesh_obj = mesh_obj.simplify_quadric_decimation( - target_number_of_triangles=target_triangles, - maximum_error=0.0001, - boundary_weight=1.0 - ) - - return mesh_obj - def compute_mesh_center(vertices): """ 计算网格质心 @@ -403,28 +384,6 @@ def compute_mesh_center(vertices): centroid = np.array([sum_x / n, sum_y / n, sum_z / n]) return centroid -def down_sample(pcd, voxel_size, farthest_sample = False): - original_num = len(pcd.points) - target_samples = 1500 # 1000 - num_samples = min(target_samples, original_num) - - # 第一步：使用体素下采样快速减少点数量 - # voxel_size = 3 - if farthest_sample: - pcd_voxel = pcd.farthest_point_down_sample(num_samples=num_samples) - else: - pcd_voxel = pcd.voxel_down_sample(voxel_size) - down_num = len(pcd_voxel.points) - # print(f"original_num={original_num}, down_num={down_num}") - - # 第二步：仅在必要时进行最远点下采样 - if len(pcd_voxel.points) > target_samples and False: - pcd_downsampled = pcd_voxel.farthest_point_down_sample(num_samples=num_samples) - else: - pcd_downsampled = pcd_voxel - - return pcd_downsampled - def get_lowest_position_of_center(obj_path,voxel_size,dict_origin,total_matrix): mesh_obj = read_mesh(obj_path) @@ -728,153 +687,6 @@ def axis_angle_to_rotation_matrix(axis, angle): cos_a + axis[2]**2*(1-cos_a)] ]) -def arrange_box_correctly(obj_transformed, voxel_size,total_matrix): - - vertices = np.asarray(obj_transformed.vertices) - pcd = o3d.geometry.PointCloud() - pcd.points = o3d.utility.Vector3dVector(vertices) - - # 降采样与特征计算 - pcd_downsampled = down_sample(pcd, voxel_size) - - original_num = len(pcd.points) - target_samples = 1000 - - points = np.asarray(pcd_downsampled.points) - cov = np.cov(points.T) - - center = obj_transformed.get_center() - - # 特征分解与方向约束（关键修改点） - eigen_vals, eigen_vecs = np.linalg.eigh(cov) - max_axis = eigen_vecs[:, np.argmax(eigen_vals)] - - # arrow = o3d.geometry.TriangleMesh.create_arrow(0.05, 0.1) - # arrow.translate(center) - # o3d.visualization.draw_geometries([obj_transformed, arrow]) - - # print("max_axis", max_axis) - # 强制主方向向量X分量为正（指向右侧） - if max_axis[0] < 0 or (max_axis[0] == 0 and max_axis[1] < 0): - max_axis = -max_axis - - target_dir = np.array([1, 0]) # 目标方向为X正轴 - current_dir = max_axis[:2] / np.linalg.norm(max_axis[:2]) - dot_product = np.dot(current_dir, target_dir) - - # print("dot_product", dot_product) - if dot_product < 0.8: # 阈值控制方向敏感性（建议0.6~0.9） - max_axis = -max_axis # 强制翻转方向 - - # 计算旋转角度 - angle_z = np.arctan2(max_axis[1], max_axis[0]) % (2 * np.pi) - - - if max_axis[0] <= 0 and max_axis[1] <= 0: - angle_z += np.pi - - # print("max_axis2", max_axis, angle_z / np.pi * 180 % 360) - - # angle_z = 0 - R = o3d.geometry.get_rotation_matrix_from_axis_angle([0, 0, -angle_z]) - - T = np.eye(4) - T[:3, :3] = R - T[:3, 3] = center - R.dot(center) # 保持中心不变 - obj_transformed.transform(T) - - total_matrix = T @ total_matrix - - #arrow = o3d.geometry.TriangleMesh.create_arrow(0.05, 0.1) - #arrow.translate(center) - #o3d.visualization.draw_geometries([obj_transformed, arrow]) - - return obj_transformed, total_matrix - -def get_new_bbox(obj_transformed_second,obj_name,weight_fix_out_dir,weight_fix_out_ply_dir,voxel_size,show_chart,dict_fix,compact_min_dis,total_matrix): - - # 计算点云的边界 - points = np.asarray(obj_transformed_second.vertices) - - min_bound = np.min(points, axis=0) # 获取点云的最小边界 - max_bound = np.max(points, axis=0) # 获取点云的最大边界 - - # 确保包围盒的Y坐标不低于0 - min_bound[2] = max(min_bound[2], 0) # 确保Y坐标的最小值不低于0 - - # 重新计算包围盒的中心和半长轴 - bbox_center = (min_bound + max_bound) / 2 # 计算包围盒的中心点 - bbox_extent = (max_bound - min_bound) # 计算包围盒的半长轴（尺寸） - - # 创建包围盒，确保尺寸正确 - new_bbox = o3d.geometry.OrientedBoundingBox(center=bbox_center, - R=np.eye(3), # 旋转矩阵，默认没有旋转 - extent=bbox_extent) - # 获取包围盒的长、宽和高 - x_length = round(bbox_extent[0],3) # X 方向的长 - y_length = round(bbox_extent[1],3) # Y 方向的宽 - z_length = round(bbox_extent[2],3) # Z 方向的高 - bbox_points = np.array([ - [min_bound[0], min_bound[1], min_bound[2]], - [max_bound[0], min_bound[1], min_bound[2]], - [max_bound[0], max_bound[1], min_bound[2]], - [min_bound[0], max_bound[1], min_bound[2]], - [min_bound[0], min_bound[1], max_bound[2]], - [max_bound[0], min_bound[1], max_bound[2]], - [max_bound[0], max_bound[1], max_bound[2]], - [min_bound[0], max_bound[1], max_bound[2]] - ]) - first_corner = bbox_points[2] - translation_vector = -first_corner - # start_time = time.time() - obj_transformed_second.translate(translation_vector) - - T_trans = np.eye(4) - T_trans[:3, 3] = translation_vector # 设置平移分量 [2,3](@ref) - total_matrix = T_trans @ total_matrix # 矩阵乘法顺序：最新变换左乘[4,5](@ref) - - new_bbox.translate(translation_vector) - # print("get_new_bbox1",time.time()-start_time) - - vertices = np.asarray(obj_transformed_second.vertices) - pcd = o3d.geometry.PointCloud() - pcd.points = o3d.utility.Vector3dVector(vertices) - - ply_print_pid = obj_name.replace(".obj","") - ply_name = f"{ply_print_pid}={z_length}+{y_length}+{x_length}.ply" - ply_out_path = os.path.join(weight_fix_out_ply_dir,ply_name) - # o3d.io.write_point_cloud(ply_out_path, pcd_downsampled) - # o3d.io.write_point_cloud(ply_out_path, pcd) - - if compact_min_dis: - original_num = len(pcd.points) - target_samples = 1500 # 1000 - num_samples = min(target_samples, original_num) - start_time = time.time() - pcd_downsampled = down_sample(pcd, voxel_size, False) - # print("down_sample time =",time.time()-start_time) - dict_fix[ply_name] = pcd_downsampled - else: - dict_fix[ply_name] = pcd - - # print("dict_fix write",ply_name) - # print("voxel_down_sample&&write_point_cloud",time.time()-start_time) - - if show_chart: - # 创建包围盒的轮廓（线框） - new_bbox_lines = o3d.geometry.LineSet.create_from_oriented_bounding_box(new_bbox) - new_bbox_lines.paint_uniform_color([1, 0, 0]) # 红色 - - #创建坐标系 - coordinate_frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=2, origin=[0, 0, 0]) - - # 创建Y=0的平面点云 - pcd_plane = make_pcd_plane() - # 可视化点云和边界框 - o3d.visualization.draw_geometries([obj_transformed_second, coordinate_frame, pcd_plane, new_bbox_lines]) - - return obj_transformed_second, total_matrix - def load_obj_data(get_pid,base_out_dir): """下载obj文件""" access_key_id = os.getenv('OSS_TEST_ACCESS_KEY_ID', 'LTAI5tBWbfkZntfJij4Fg9gz') @@ -910,130 +722,6 @@ def load_obj_data(get_pid,base_out_dir): # 如果迭代器没有返回任何对象，那么表示该"文件夹"不存在 print("ossFolder does not exist.",get_pid) -def custom_mesh_transform(vertices, transform_matrix): - """ - 手动实现网格变换：对每个顶点应用齐次变换矩阵 - 参数: - vertices: 网格顶点数组 (N, 3) - transform_matrix: 4x4 齐次变换矩阵 - 返回: - 变换后的顶点数组 (N, 3) - """ - # 1. 顶点转齐次坐标 (N, 3) → (N, 4) - homogeneous_vertices = np.hstack((vertices, np.ones((vertices.shape[0], 1)))) - - # 2. 应用变换矩阵：矩阵乘法 (4x4) * (4xN) → (4xN) - transformed_homogeneous = transform_matrix @ homogeneous_vertices.T - - # 3. 转回非齐次坐标 (3xN) → (N, 3) - transformed_vertices = transformed_homogeneous[:3, :].T - return transformed_vertices - -def make_bbox_for_print(base_out_dir,weight_fix_out_dir,weight_fix_out_ply_dir,show_chart,dict_bad, dict_best_angel,dict_fix,dict_origin,dict_origin_real, compact_min_dis,dict_total_matrix): - """获取需要的盒子大小""" - # 加载点云数据 - start_time1 = time.time() - obj_id_list = [aa.split(".o")[0] for aa in os.listdir(base_out_dir) if aa.endswith(".obj")] - #print(obj_id_list) - #print(len(obj_id_list)) - #random.shuffle(obj_id_list) - obj_id_list = obj_id_list - #print(obj_id_list) - voxel_size = 3 # 设置体素的大小，决定下采样的密度 - - #for pid in tqdm(obj_id_list,desc="get new bbox"): - dict_mesh_obj = {} - for pid_t_y in obj_id_list: - start_time2 = time.time() - obj_name = pid_t_y+".obj" - obj_path = os.path.join(base_out_dir,obj_name) - - total_matrix = np.eye(4) - #放置最大接触面 - # obj_transformed, total_matrix = get_lowest_position_of_center(obj_path,voxel_size,dict_origin,total_matrix) - - mesh_obj = read_mesh(obj_path) - - # dict_origin_real[obj_path] = copy.deepcopy(mesh_obj) - dict_origin[obj_path] = copy.deepcopy(mesh_obj) - - start_time3 = time.time() - total_matrix, z_min= get_lowest_position_of_center_ext(obj_path, total_matrix) - # print("get_lowest_position_of_center_ext time", time.time()-start_time3) - # print(f"total_matrix={total_matrix}") - print(f"z_min={z_min}") - printId = "" - match = re.search(r"P(\d+)", obj_name) # 匹配 "P" 后的连续数字 - if match: - printId = match.group(1) - # print("printId", printId) - - # total_matrix, z_mean_min = get_lowest_position_of_center_net(printId, total_matrix) - - # print("total_matrix=", total_matrix) - - original_vertices = np.asarray(mesh_obj.vertices) - transformed_vertices = custom_mesh_transform(original_vertices, total_matrix) - mesh_obj.vertices = o3d.utility.Vector3dVector(transformed_vertices) - - # print("dict_origin[] obj_path=", obj_path) - # dict_origin[obj_path] = mesh_obj - - obj_transformed = copy.deepcopy(mesh_obj) - translation = total_matrix[:3, 3] - # print("make_bbox_for_print0", obj_name, translation) - - if obj_transformed is None: - dict_bad[obj_name]=obj_name - # print(len(dict_bad)) - # print(obj_name) - # 记录错误文件 - error_log = os.path.join(base_out_dir, "error_files.txt") - with open(error_log, 'a') as f: - f.write(f"{obj_path}\n") - print(f"Skipping invalid file: {obj_path}") - continue - - start_time3 = time.time() - best_angle_x, best_angle_y, best_angle_z, z_mean_min = get_lowest_position_of_center_ext3(mesh_obj, obj_path,voxel_size) - # print("get_lowest_position_of_center_ext2 time", time.time()-start_time3) - # print("best_angle=", best_angle_x, best_angle_y, best_angle_z, z_mean_min) - dict_best_angel[obj_name] = [int(round(best_angle_x)), int(round(best_angle_y)), int(round(best_angle_z))] - - start_time3 = time.time() - #将点云摆正和X轴平衡 - obj_transformed_second,total_matrix = arrange_box_correctly(obj_transformed,voxel_size,total_matrix) - # print("arrange_box_correctly time", time.time()-start_time3) - """ - # 创建可视化窗口 - vis = o3d.visualization.Visualizer() - vis.create_window(window_name='模型展示') - - # 添加所有模型到场景 - vis.add_geometry(obj_transformed_second) - - # 设置相机视角 - vis.get_render_option().mesh_show_back_face = True - vis.get_render_option().light_on = True - - # 运行可视化 - vis.run() - vis.destroy_window() - #""" - - #print("摆正后的obj") - #o3d.visualization.draw_geometries([obj_transformed_second, ]) - start_time3 = time.time() - mesh_obj,total_matrix = get_new_bbox(obj_transformed_second,obj_name,weight_fix_out_dir,weight_fix_out_ply_dir,voxel_size,show_chart,dict_fix,compact_min_dis,total_matrix) - dict_mesh_obj[obj_name] = mesh_obj - # print("get_new_bbox time", time.time()-start_time3) - - dict_total_matrix[obj_name] = total_matrix - print(f"make_bbox_for_print {obj_name} time={time.time()-start_time2}") - - print(f"make_bbox_for_print total_time={time.time()-start_time1}") - - return dict_mesh_obj import re def copy_obj_2x(base_obj_dir): obj_list = [aa for aa in os.listdir(base_obj_dir) if aa.endswith(".obj")] diff --git a/print_type_setting_gui.py b/print_type_setting_gui.py deleted file mode 100644 index 905058f..0000000 --- a/print_type_setting_gui.py +++ /dev/null @@ -1,346 +0,0 @@ -import sys -import os -from PyQt5.QtWidgets import (QApplication, QWidget, QPushButton, QLabel, - QVBoxLayout, QFileDialog, QMessageBox, - QRadioButton, QHBoxLayout, QButtonGroup, QGroupBox) -from PyQt5.QtCore import QProcess, QTimer -from threading import Thread -import print_factory_type_setting_obj_run - - -class AutoLayoutApp(QWidget): - def __init__(self): - super().__init__() - self.small_model_temp = False - self.setWindowTitle("自动排版工具") - self.setGeometry(200, 200, 600, 380) # 增加窗口高度以容纳新控件 - self.dw = print_factory_type_setting_obj_run - self.folder_path = "" - self.cache_path = "" - self.process = None - if self.small_model_temp: - self.selected_mode = "紧凑" # 默认排版模式 - self.output_format = "模型" # 默认输出格式 - self.selected_machine = "小机型" # 默认机型 - else: - self.selected_mode = "标准" # 默认排版模式 - self.output_format = "JSON" # 默认输出格式 - self.selected_machine = "大机型" # 默认机型 - self.is_running = False # 跟踪排版状态 - - self.init_ui() - - def init_ui(self): - layout = QVBoxLayout() - - # ===== 机型选择区域（移到最上面） ===== - machine_group = QGroupBox("机型选择") - machine_layout = QHBoxLayout() - - # 创建机型选择按钮组 - self.machine_group = QButtonGroup(self) - - # 创建两种机型选项 - self.large_machine = QRadioButton("大机型(600 * 500 * 300)") - self.small_machine = QRadioButton("小机型(380 * 345 * 250)") - - if self.small_model_temp: - self.large_machine.setEnabled(False) - self.small_machine.setChecked(True) # 默认选中 - else: - self.large_machine.setChecked(True) # 默认选中 - - # 添加到按钮组 - self.machine_group.addButton(self.large_machine, 1) - self.machine_group.addButton(self.small_machine, 2) - - # 连接信号 - self.machine_group.buttonToggled.connect(self.on_machine_changed) - - # 添加到布局 - machine_layout.addWidget(self.large_machine) - machine_layout.addWidget(self.small_machine) - machine_group.setLayout(machine_layout) - layout.addWidget(machine_group) - - # ===== 排版模式选择区域（改为QGroupBox） ===== - mode_group = QGroupBox("排版模式") - mode_layout = QHBoxLayout() - - # 创建单选按钮组 - self.mode_group = QButtonGroup(self) - - # 创建三种排版模式选项 - self.standard_mode = QRadioButton("标准模式(适合规整模型组)") - self.compact_mode = QRadioButton("紧凑模式(复杂度较高))") - self.advanced_mode = QRadioButton("高级模式(复杂度最高)") - self.advanced_mode.setVisible(False) - - if self.small_model_temp: - self.standard_mode.setEnabled(False) - self.compact_mode.setChecked(True) # 默认选中 - else: - self.standard_mode.setChecked(True) # 默认选中 - - # 添加到按钮组（确保互斥选择） - self.mode_group.addButton(self.standard_mode, 1) - self.mode_group.addButton(self.compact_mode, 2) - self.mode_group.addButton(self.advanced_mode, 3) - - # 连接信号 - self.mode_group.buttonToggled.connect(self.on_mode_changed) - - # 添加到布局 - mode_layout.addWidget(self.standard_mode) - mode_layout.addWidget(self.compact_mode) - mode_layout.addWidget(self.advanced_mode) - mode_group.setLayout(mode_layout) - layout.addWidget(mode_group) - - # ==== 输出格式选择区域 ==== - format_group = QGroupBox("输出格式") - format_layout = QHBoxLayout() - - # 创建输出格式按钮组 - self.format_group = QButtonGroup(self) - - # 创建两种输出格式选项 - self.json_format = QRadioButton("JSON格式") - self.model_format = QRadioButton("模型格式") - - if self.small_model_temp: - self.json_format.setEnabled(False) - self.model_format.setChecked(True) # 默认选中 - else: - self.json_format.setChecked(True) # 默认选中 - - # 添加到按钮组 - self.format_group.addButton(self.json_format, 1) - self.format_group.addButton(self.model_format, 2) - - # 连接信号 - self.format_group.buttonToggled.connect(self.on_format_changed) - - # 添加到布局 - format_layout.addWidget(self.json_format) - format_layout.addWidget(self.model_format) - format_group.setLayout(format_layout) - layout.addWidget(format_group) - - # ===== 原有UI元素 ===== - self.folder_path_label = QLabel(" 请选择要排版的文件夹") - self.folder_path_label.setWordWrap(True) - - self.run_status_label = QLabel("") - - layout.addWidget(self.folder_path_label) - layout.addWidget(self.run_status_label) - - self.select_folder_btn = QPushButton("选择文件夹") - self.select_folder_btn.clicked.connect(self.on_select_folder) - layout.addWidget(self.select_folder_btn) - - # 按钮布局（运行按钮和预览按钮在同一行） - buttons_layout = QHBoxLayout() - - self.run_btn = QPushButton("开始自动排版") - self.run_btn.clicked.connect(self.on_run_clicked) - buttons_layout.addWidget(self.run_btn) - - # ===== 新增预览按钮 ===== - self.preview_btn = QPushButton("预览排版结果") - self.preview_btn.clicked.connect(self.on_preview_clicked) - self.preview_btn.setEnabled(False) # 初始禁用，排版完成后才可用 - buttons_layout.addWidget(self.preview_btn) - - layout.addLayout(buttons_layout) - - self.open_output_btn = QPushButton("打开排版好的文件夹") - self.open_output_btn.clicked.connect(self.on_open_output_clicked) - layout.addWidget(self.open_output_btn) - - self.setLayout(layout) - - def on_mode_changed(self, button, checked): - """处理排版模式选择变化""" - if checked: - # self.selected_mode = button.text().replace("模式", "") - self.selected_mode = button.text()[:2] - self.run_status_label.setText(f"已选择: {self.selected_mode} 模式") - - def on_format_changed(self, button, checked): - """处理输出格式选择变化""" - if checked: - self.output_format = button.text().replace("格式", "") - self.run_status_label.setText(f"输出格式: {self.output_format}") - - def on_machine_changed(self, button, checked): - """处理机型选择变化""" - if checked: - self.selected_machine = button.text().split("(")[0] - self.run_status_label.setText(f"已选择: {self.selected_machine}") - - def on_select_folder(self): - folder = QFileDialog.getExistingDirectory(self, "选择文件夹") - if folder: - self.folder_path = folder - self.folder_path_label.setText(f" 当前选择文件夹: {folder}") - self.run_status_label.setText("") - self.cache_path = folder + "_arrange" - # self.cache_path = os.path.join(folder, "arrange") - - os.makedirs(self.cache_path, exist_ok=True) - self.preview_btn.setEnabled(False) # 选择新文件夹后禁用预览按钮 - - def get_base_directory(self): - """获取脚本或可执行文件的基础目录""" - if getattr(sys, 'frozen', False): - # 打包后的可执行文件环境 - base_path = os.path.dirname(sys.executable) - else: - # 正常脚本运行环境 - base_path = os.path.dirname(os.path.abspath(__file__)) - return base_path - - def on_run_clicked(self): - # 获取脚本所在目录的父目录 - script_dir = os.path.dirname(os.path.abspath(__file__)) - parent_dir = os.path.dirname(script_dir) - - # 获取基础目录 - base_path = self.get_base_directory() - # 获取父目录 - parent_dir = os.path.dirname(base_path) - bad_dir = os.path.join(parent_dir, "bad") - full_dir = os.path.join(parent_dir, "full") - - # 检查bad目录 - bad_dir_exists = os.path.exists(bad_dir) and os.path.isdir(bad_dir) - bad_dir_not_empty = bad_dir_exists and any(os.scandir(bad_dir)) - - # 检查full目录 - full_dir_exists = os.path.exists(full_dir) and os.path.isdir(full_dir) - full_dir_not_empty = full_dir_exists and any(os.scandir(full_dir)) - - # 如果有异常数据需要处理 - if bad_dir_not_empty or full_dir_not_empty: - message = "请处理以下目录中的异常数据:\n" - if bad_dir_not_empty: - message += f"- bad目录: {bad_dir}\n" - if full_dir_not_empty: - message += f"- full目录: {full_dir}\n" - - QMessageBox.warning(self, "存在未处理的异常数据", - message + "\n请先处理这些目录中的数据后再进行排版！") - self.run_status_label.setText("⚠️ 存在未处理的异常数据，请先处理！") - return - - def threadFunc1(): - self.is_running = True # 标记排版开始 - if not self.folder_path: - self.run_status_label.setText("❗请先选择一个文件夹再执行！") - self.is_running = False - return - - if self.process and self.process.state() == QProcess.Running: - self.run_status_label.setText("⚠️ 正在执行中，请稍候...") - self.is_running = False - return - - self.run_btn.setEnabled(False) - self.preview_btn.setEnabled(False) # 排版中禁用预览按钮 - self.run_status_label.setText( - f" 正在使用 [{self.selected_mode}] 排版, 机型: {self.selected_machine}, 输出格式: {self.output_format}, 请稍候..." - ) - - normalized_path = os.path.normpath(self.folder_path) - self.batch_id = os.path.basename(normalized_path) - - # 调用排版函数，传递所有参数 - self.dw.print_type_setting_obj( - base_original_obj_dir=self.folder_path, - cache_type_setting_dir=self.cache_path, - show_chart=False, - batch_id=self.batch_id, - selected_mode=self.selected_mode, - output_format=self.output_format, - selected_machine=self.selected_machine - ) - - self.run_status_label.setText( - f"✅ [{self.selected_mode}] 排版完成! 机型: {self.selected_machine}, 输出格式: {self.output_format}" - ) - self.run_btn.setEnabled(True) - self.preview_btn.setEnabled(True) # 排版完成后启用预览按钮 - self.is_running = False # 标记排版结束 - - thread = Thread(target=threadFunc1) - thread.start() - - def on_process_finished(self, exitCode, exitStatus): - self.run_btn.setEnabled(True) - self.preview_btn.setEnabled(True) # 完成后启用预览按钮 - if exitCode == 0: - self.run_status_label.setText("✅ 排版完成！") - else: - self.run_status_label.setText(f"❌❌ 进程异常退出 (代码: {exitCode})") - - def on_process_error(self, error): - self.run_btn.setEnabled(True) - self.preview_btn.setEnabled(False) # 出错时禁用预览按钮 - self.run_status_label.setText(f"❌❌ 发生错误: {error.name}") - QMessageBox.critical(self, "错误", f"进程执行出错: {error.name}") - - def open_file_cross_platform(self, path): - if not os.path.exists(path): - self.run_status_label.setText("⚠️ 路径不存在！") - return - if sys.platform.startswith('win'): - os.startfile(path) - elif sys.platform.startswith('darwin'): - QProcess.startDetached("open", [path]) - else: - QProcess.startDetached("xdg-open", [path]) - - def on_preview_clicked(self): - """预览按钮点击事件处理""" - if not self.cache_path: - self.run_status_label.setText("⚠️ 请先执行排版操作！") - return - - is_small_machine = self.selected_machine=="小机型" - - if os.path.exists(self.folder_path): - self.run_status_label.setText("正在打开预览目录...") - self.dw.preview( - base_original_obj_dir=self.folder_path,batch_id=self.batch_id, is_small_machine=is_small_machine - ) - else: - self.run_status_label.setText("⚠️ 预览目录不存在！") - - def on_open_output_clicked(self): - """打开排版结果文件夹""" - if not self.cache_path: - self.run_status_label.setText("⚠️ 请先执行排版操作！") - return - - open_dir = self.cache_path - if self.output_format=="JSON": - open_dir = self.folder_path - - if os.path.exists(open_dir): - self.open_file_cross_platform(open_dir) - else: - self.run_status_label.setText("⚠️ 输出文件夹不存在！") - - -if __name__ == "__main__": - from PyQt5.QtCore import QSharedMemory - app = QApplication(sys.argv) - shared_mem = QSharedMemory("AutoLayoutTool_unique_key") - if not shared_mem.create(1): - QMessageBox.critical(None, "错误", "程序已经在运行中！") - sys.exit(1) - window = AutoLayoutApp() - window.show() - sys.exit(app.exec_()) \ No newline at end of file diff --git a/print_type_setting_gui.spec b/print_type_setting_gui.spec deleted file mode 100644 index 958559e..0000000 --- a/print_type_setting_gui.spec +++ /dev/null @@ -1,38 +0,0 @@ -# -*- mode: python ; coding: utf-8 -*- - - -a = Analysis( - ['print_type_setting_gui.py'], - pathex=[], - binaries=[], - datas=[], - hiddenimports=[], - hookspath=[], - hooksconfig={}, - runtime_hooks=[], - excludes=[], - noarchive=False, - optimize=0, -) -pyz = PYZ(a.pure) - -exe = EXE( - pyz, - a.scripts, - a.binaries, - a.datas, - [], - name='print_type_setting_gui', - debug=False, - bootloader_ignore_signals=False, - strip=False, - upx=True, - upx_exclude=[], - runtime_tmpdir=None, - console=True, - disable_windowed_traceback=False, - argv_emulation=False, - target_arch=None, - codesign_identity=None, - entitlements_file=None, -) diff --git a/print_type_setting_gui_multi.py b/print_type_setting_gui_multi.py deleted file mode 100644 index abeb5b3..0000000 --- a/print_type_setting_gui_multi.py +++ /dev/null @@ -1,126 +0,0 @@ -import sys -import os -from PyQt5.QtWidgets import (QApplication, QWidget, QPushButton, QLabel, - QVBoxLayout, QFileDialog, QMessageBox) -from PyQt5.QtCore import QProcess, QTimer -from threading import Thread -import print_factory_type_setting_obj_run - - -class AutoLayoutApp(QWidget): - def __init__(self): - super().__init__() - self.setWindowTitle("自动排版工具") - self.setGeometry(200, 200, 600, 200) - self.dw= print_factory_type_setting_obj_run - self.folder_path = "" - self.cache_path = "" - self.process = None - - self.init_ui() - - def init_ui(self): - layout = QVBoxLayout() - - self.folder_path_label = QLabel("�� 请选择要排版的文件夹") - self.folder_path_label.setWordWrap(True) - - self.run_status_label = QLabel("") - - layout.addWidget(self.folder_path_label) - layout.addWidget(self.run_status_label) - - self.select_folder_btn = QPushButton("选择文件夹") - self.select_folder_btn.clicked.connect(self.on_select_folder) - layout.addWidget(self.select_folder_btn) - - self.run_btn = QPushButton("开始自动排版") - self.run_btn.clicked.connect(self.on_run_clicked) - layout.addWidget(self.run_btn) - - self.open_output_btn = QPushButton("打开排版好的文件夹") - self.open_output_btn.clicked.connect(self.on_open_output_clicked) - layout.addWidget(self.open_output_btn) - - self.setLayout(layout) - - def on_select_folder(self): - folder = QFileDialog.getExistingDirectory(self, "选择文件夹") - if folder: - self.folder_path = folder - self.folder_path_label.setText(f"�� 当前选择文件夹: {folder}") - self.run_status_label.setText("") - self.cache_path = folder + "_arrange" - os.makedirs(self.cache_path, exist_ok=True) - - def on_run_clicked(self): - def threadFunc1(): - if not self.folder_path: - self.run_status_label.setText("❗请先选择一个文件夹再执行！") - return - - if self.process and self.process.state() == QProcess.Running: - self.run_status_label.setText("⚠️ 正在执行中，请稍候...") - return - - self.run_btn.setEnabled(False) - self.run_status_label.setText("�� 程序正在运行，请稍候...") - - return_code = self.dw.print_type_setting_obj(base_original_obj_dir=self.folder_path,cache_type_setting_dir=self.cache_path, - show_chart=False) - if return_code==0: - self.run_status_label.setText("✅ 排版完成！") - elif return_code==-1: - self.run_status_label.setText("❌选择目录为空！") - else: - self.run_status_label.setText("❌排版失败！") - self.run_btn.setEnabled(True) - - thread = Thread(target=threadFunc1) - thread.start() - - def on_process_finished(self, exitCode, exitStatus): - self.run_btn.setEnabled(True) - if exitCode == 0: - self.run_status_label.setText("✅ 排版完成！") - else: - self.run_status_label.setText(f"❌ 进程异常退出 (代码: {exitCode})") - - def on_process_error(self, error): - self.run_btn.setEnabled(True) - self.run_status_label.setText(f"❌ 发生错误: {error.name}") - QMessageBox.critical(self, "错误", f"进程执行出错: {error.name}") - - def open_file_cross_platform(self, path): - if not os.path.exists(path): - self.run_status_label.setText("⚠️ 路径不存在！") - return - if sys.platform.startswith('win'): - os.startfile(path) - elif sys.platform.startswith('darwin'): - QProcess.startDetached("open", [path]) - else: - QProcess.startDetached("xdg-open", [path]) - - def on_open_output_clicked(self): - if not self.cache_path: - self.run_status_label.setText("⚠️ 请先执行排版操作！") - return - - output_path = os.path.join(self.cache_path, "print_compact_obj") - if os.path.exists(output_path): - self.open_file_cross_platform(output_path) - else: - self.run_status_label.setText("⚠️ 输出文件夹不存在！") - - -if __name__ == "__main__": - from PyQt5.QtCore import QSharedMemory - app = QApplication(sys.argv) - shared_mem = QSharedMemory("AutoLayoutTool_unique_key") - if not shared_mem.create(1): - QMessageBox.critical(None, "错误", "程序已经在运行中！") - sys.exit(1) - window = AutoLayoutApp() - window.show() - sys.exit(app.exec_()) \ No newline at end of file diff --git a/qt5_demo.py b/qt5_demo.py deleted file mode 100644 index 30ec0e6..0000000 --- a/qt5_demo.py +++ /dev/null @@ -1,25 +0,0 @@ -import sys -from PyQt5.QtWidgets import QApplication, QWidget, QPushButton, QMessageBox - -class MyWindow(QWidget): - def __init__(self): - super().__init__() - - self.setWindowTitle("PyQt5 简单示例") - self.setGeometry(100, 100, 300, 200) - - self.button = QPushButton("点我一下", self) - self.button.setGeometry(100, 80, 100, 30) - self.button.clicked.connect(self.show_message) - - def show_message(self): - QMessageBox.information(self, "提示", "按钮被点击了！") - -if __name__ == "__main__": - app = QApplication(sys.argv) - window = MyWindow() - window.show() - sys.exit(app.exec_()) - """ - pyinstaller qt5_demo.py --hidden-import PySide2.QtXml - """ diff --git a/qt5_demo.spec b/qt5_demo.spec deleted file mode 100644 index 85043d8..0000000 --- a/qt5_demo.spec +++ /dev/null @@ -1,44 +0,0 @@ -# -*- mode: python ; coding: utf-8 -*- - - -a = Analysis( - ['qt5_demo.py'], - pathex=[], - binaries=[], - datas=[], - hiddenimports=['PySide2.QtXml'], - hookspath=[], - hooksconfig={}, - runtime_hooks=[], - excludes=[], - noarchive=False, - optimize=0, -) -pyz = PYZ(a.pure) - -exe = EXE( - pyz, - a.scripts, - [], - exclude_binaries=True, - name='qt5_demo', - debug=False, - bootloader_ignore_signals=False, - strip=False, - upx=True, - console=True, - disable_windowed_traceback=False, - argv_emulation=False, - target_arch=None, - codesign_identity=None, - entitlements_file=None, -) -coll = COLLECT( - exe, - a.binaries, - a.datas, - strip=False, - upx=True, - upx_exclude=[], - name='qt5_demo', -) diff --git a/sui_01.py b/sui_01.py deleted file mode 100644 index 75c0268..0000000 --- a/sui_01.py +++ /dev/null @@ -1,275 +0,0 @@ -import open3d as o3d -import os -import numpy as np -from scipy.spatial.transform import Rotation -import sys - -import argparse -# import cv2 -import matplotlib.pyplot as plt -import numpy as np -from numba import njit, prange -import time - - -# 核心计算函数（支持Numba加速） -@njit(fastmath=True, cache=True) -def calculate_rotation_z(angle_x, angle_y, angle_z, points, cos_cache, sin_cache, angle_step): - """计算单个旋转组合后的重心Z坐标（无显式平移）""" - # 获取预计算的三角函数值 - idx_x = angle_x // angle_step - idx_y = angle_y // angle_step - idx_z = angle_z // angle_step - - cos_x = cos_cache[idx_x] - sin_x = sin_cache[idx_x] - cos_y = cos_cache[idx_y] - sin_y = sin_cache[idx_y] - cos_z = cos_cache[idx_z] - sin_z = sin_cache[idx_z] - - # 构造旋转矩阵（展开矩阵乘法优化） - # R = Rz @ Ry @ Rx - # 计算矩阵元素（手动展开矩阵乘法） - m00 = cos_z * cos_y - m01 = cos_z * sin_y * sin_x - sin_z * cos_x - m02 = cos_z * sin_y * cos_x + sin_z * sin_x - - m10 = sin_z * cos_y - m11 = sin_z * sin_y * sin_x + cos_z * cos_x - m12 = sin_z * sin_y * cos_x - cos_z * sin_x - - m20 = -sin_y - m21 = cos_y * sin_x - m22 = cos_y * cos_x - - # 计算所有点的Z坐标 - z_values = np.empty(points.shape[0], dtype=np.float64) - for i in prange(points.shape[0]): - x, y, z = points[i, 0], points[i, 1], points[i, 2] - # 应用旋转矩阵 - rotated_z = m20 * x + m21 * y + m22 * z - z_values[i] = rotated_z - - # 计算重心Z（等效于平移后的重心） - min_z = np.min(z_values) - avg_z = np.mean(z_values) - return avg_z - min_z # 等效于平移后的重心Z坐标 - - -# 并行优化主函数 -def parallel_rotation2(points, angle_step=3): - """ - 参数： - points : numpy.ndarray (N,3) - 三维点云 - angle_step : int - 角度搜索步长（度数） - - 返回： - (best_angle_x, best_angle_y, best_angle_z, min_z) - """ - points = np.ascontiguousarray(points.astype(np.float64)) - - # 生成所有可能角度 - angles = np.arange(0, 360, angle_step) - n_angles = len(angles) - - # 预计算三角函数值（大幅减少重复计算） - rads = np.radians(angles) - cos_cache = np.cos(rads).astype(np.float64) - sin_cache = np.sin(rads).astype(np.float64) - - # 生成所有角度组合（内存优化版） - total_combinations = n_angles ** 3 - print(f"Total combinations: {total_combinations:,}") - - # 分块处理以避免内存溢出 - best_z = np.inf - best_angles = (0, 0, 0) - batch_size = 10 ** 6 # 根据可用内存调整 - - for x_chunk in range(0, n_angles, max(1, n_angles // 4)): - angles_x = angles[x_chunk:x_chunk + max(1, n_angles // 4)] - for y_chunk in range(0, n_angles, max(1, n_angles // 4)): - angles_y = angles[y_chunk:y_chunk + max(1, n_angles // 4)] - - # 生成当前分块的所有组合 - xx, yy, zz = np.meshgrid(angles_x, angles_y, angles) - current_batch = np.stack([xx.ravel(), yy.ravel(), zz.ravel()], axis=1) - - # 处理子批次 - for i in range(0, len(current_batch), batch_size): - batch = current_batch[i:i + batch_size] - results = np.zeros(len(batch), dtype=np.float64) - _process_batch(batch, points, cos_cache, sin_cache, angle_step, results) - - # 更新最佳结果 - min_idx = np.argmin(results) - if results[min_idx] < best_z: - best_z = results[min_idx] - best_angles = tuple(batch[min_idx]) - print(f"New best: {best_angles} -> Z={best_z:.4f}") - - return (*best_angles, best_z) - - -@njit(parallel=True, fastmath=True) -def _process_batch(batch, points, cos_cache, sin_cache, angle_step, results): - for i in prange(len(batch)): - ax, ay, az = batch[i] - results[i] = calculate_rotation_z( - ax, ay, az, points, - cos_cache, sin_cache, angle_step - ) - - -class ModelProcessor: - def __init__(self): - - # argv = sys.argv[sys.argv.index("--") + 1:] if "--" in sys.argv else [] - parser = argparse.ArgumentParser() - - parser.add_argument( - "--id", - required=False, - ) - - args = parser.parse_args() - - self.id = args.id - - self.mesh = None - self.asset_dir = f"/home/algo/Documents/datasets/{self.id}" - - def load_model(self): - """加载并初始化3D模型""" - # model_path = f"{self.asset_dir}/baked/{self.id}.obj" - # model_path = f"{self.asset_dir}/repair_{self.id}_mesh.ply" - model_path = "/data/datasets_20t/8/88884_253283_P65951_6cm_x1.obj" - if not os.path.exists(model_path): - raise FileNotFoundError(f"Model file not found: {model_path}") - - print(model_path) - - mesh_native = o3d.io.read_triangle_mesh(model_path, enable_post_processing=False) - # self.mesh = o3d.io.read_triangle_mesh(model_path, enable_post_processing=False) - - print("Open3D去重前顶点数:", len(mesh_native.vertices)) - self.mesh = mesh_native.merge_close_vertices(eps=1e-6) - - vertices2 = np.asarray(self.mesh.vertices) - print("Open3D去重后顶点数:", len(vertices2)) - vertices2_sorted = sorted( - vertices2.tolist(), - key=lambda x: (x[0], x[1], x[2]) - ) - - if not self.mesh.has_vertex_colors(): - num_vertices = len(self.mesh.vertices) - self.mesh.vertex_colors = o3d.utility.Vector3dVector( - np.ones((num_vertices, 3)) - ) - - self.uv_array = np.asarray(self.mesh.triangle_uvs) - # print(f"UV 坐标形状：{self.uv_array.shape}, {self.uv_array[0][1]}") - - def calculate_rotation_and_center_of_mass(self, angle_x, angle_y, angle_z, points): - """计算某一组旋转角度后的重心""" - # 计算绕X轴、Y轴和Z轴的旋转矩阵 - R_x = np.array([ - [1, 0, 0], - [0, np.cos(np.radians(angle_x)), -np.sin(np.radians(angle_x))], - [0, np.sin(np.radians(angle_x)), np.cos(np.radians(angle_x))] - ]) - - R_y = np.array([ - [np.cos(np.radians(angle_y)), 0, np.sin(np.radians(angle_y))], - [0, 1, 0], - [-np.sin(np.radians(angle_y)), 0, np.cos(np.radians(angle_y))] - ]) - - R_z = np.array([ - [np.cos(np.radians(angle_z)), -np.sin(np.radians(angle_z)), 0], - [np.sin(np.radians(angle_z)), np.cos(np.radians(angle_z)), 0], - [0, 0, 1] - ]) - - # 综合旋转矩阵 - R = R_z @ R_y @ R_x - - # 执行旋转 - rotated_points = points @ R.T - - # 计算最小z值 - min_z = np.min(rotated_points[:, 2]) - - # 计算平移向量，将最小Z值平移到0 - translation_vector = np.array([0, 0, -min_z]) - rotated_points += translation_vector - - # 计算重心 - center_of_mass = np.mean(rotated_points, axis=0) - - return center_of_mass[2], angle_x, angle_y, angle_z - - def parallel_rotation(self, angle_step=3): - """顺序计算最优旋转角度（单线程）""" - min_center_of_mass_y = float('inf') - best_angle_x, best_angle_y, best_angle_z = 0, 0, 0 - - # 遍历所有角度组合 - for angle_x in range(0, 360, angle_step): - for angle_y in range(0, 360, angle_step): - for angle_z in range(0, 360, angle_step): - center_of_mass_z, ax, ay, az = self.calculate_rotation_and_center_of_mass( - angle_x, angle_y, angle_z, self.mesh.vertices - ) - if center_of_mass_z < min_center_of_mass_y: - min_center_of_mass_y = center_of_mass_z - best_angle_x, best_angle_y, best_angle_z = ax, ay, az - - return best_angle_x, best_angle_y, best_angle_z, min_center_of_mass_y - - def process(self): - """执行完整处理流程""" - self.load_model() - - try: - start = time.time() - - # mesh = o3d.geometry.TriangleMesh() - # mesh.vertices = o3d.utility.Vector3dVector(np.random.rand(100, 3)) - # points = np.asarray(mesh.vertices) - - pcd = o3d.geometry.PointCloud() - pcd.points = o3d.utility.Vector3dVector(self.mesh.vertices) - - # 自动计算合理体素大小 - raw_points = np.asarray(pcd.points) - bounds = np.ptp(raw_points, axis=0) - voxel_size = np.max(bounds) / 50 # 默认取最大边长的2% - - # 执行下采样并验证 - pcd_downsampled = pcd.voxel_down_sample(voxel_size) - if len(pcd_downsampled.points) < 10: # 最少保留10个点 - raise RuntimeError(f"下采样失败：voxel_size={voxel_size:.3f}过大") - - print(f"下采样后点数: {len(pcd_downsampled.points)} (voxel_size={voxel_size:.3f})") - - # pcd.paint_uniform_color([1,0,0]) # 原始红色 - # pcd_downsampled.paint_uniform_color([0,0,1]) # 采样后蓝色 - # o3d.visualization.draw_geometries([pcd, pcd_downsampled]) - - # 继续后续处理 - points = np.asarray(pcd_downsampled.points) - - best_angle_x, best_angle_y, best_angle_z, min_z = parallel_rotation2(points, angle_step=5) - print("best=", best_angle_x, best_angle_y, best_angle_z, min_z) - print(time.time() - start) - - except Exception as e: - print(f"Error during processing: {str(e)}") - raise - - -if __name__ == "__main__": - ModelProcessor().process() \ No newline at end of file diff --git a/test.py b/test.py deleted file mode 100644 index 06a520a..0000000 --- a/test.py +++ /dev/null @@ -1,19 +0,0 @@ -import requests -import json - -printId = 84258 -url = f"https://mp.api.suwa3d.com/api/printOrder/infoByPrintId?printId={printId}" -res = requests.get(url) -print(res) - -datas = res.json()["data"]["layout"] -print(datas) -angle_x = datas.get("angle_x",0) -angle_y = datas.get("angle_y",0) -angle_z = datas.get("angle_z",0) -layout_z = datas.get("layout_z",0) -print("angle_x",angle_x) -print("angle_y",angle_y) -print("angle_z",angle_z) -print("layout_z",layout_z) -# TODO 解析 res diff --git a/test_load_json.py b/test_load_json.py index 13c3c78..bada2d7 100644 --- a/test_load_json.py +++ b/test_load_json.py @@ -5,24 +5,8 @@ import os from PIL import Image import argparse -def custom_mesh_transform(vertices, transform_matrix): - """ - 手动实现网格变换：对每个顶点应用齐次变换矩阵 - 参数: - vertices: 网格顶点数组 (N, 3) - transform_matrix: 4x4 齐次变换矩阵 - 返回: - 变换后的顶点数组 (N, 3) - """ - # 1. 顶点转齐次坐标 (N, 3) → (N, 4) - homogeneous_vertices = np.hstack((vertices, np.ones((vertices.shape[0], 1)))) - - # 2. 应用变换矩阵：矩阵乘法 (4x4) * (4xN) → (4xN) - transformed_homogeneous = transform_matrix @ homogeneous_vertices.T - - # 3. 转回非齐次坐标 (3xN) → (N, 3) - transformed_vertices = transformed_homogeneous[:3, :].T - return transformed_vertices +from config import print_factory_type_dir +from general import mesh_transform_by_matrix def load_and_transform_models(base_path, dict_origin, blank_path, json_name): @@ -46,6 +30,8 @@ def load_and_transform_models(base_path, dict_origin, blank_path, json_name): print(f"读取JSON文件失败: {e}") return [] + print(f"选择机型={data.get('summary')['selected_machine']}") + # 处理每个模型 for model in data.get('models', []): obj_name = model.get('file_name', '') @@ -86,7 +72,7 @@ def load_and_transform_models(base_path, dict_origin, blank_path, json_name): # 手动变换顶点 original_vertices = np.asarray(mesh.vertices) - transformed_vertices = custom_mesh_transform(original_vertices, reconstructed_matrix) + transformed_vertices = mesh_transform_by_matrix(original_vertices, reconstructed_matrix) mesh.vertices = o3d.utility.Vector3dVector(transformed_vertices) # 添加到列表 @@ -467,16 +453,16 @@ def load_show_save(base_path, dict_origin, blank_path, batch_id, is_show=False): if __name__ == "__main__": parser = argparse.ArgumentParser() - parser.add_argument("--batch_id", type=str, required=True, help="batch_id") + parser.add_argument("--batch_id", type=str, required=False, help="batch_id") args = parser.parse_args() # batch_id = args.batch_id - batch_id = "9" # 1113-MY-4 + batch_id = "test" # 1113-MY-4 - print_factory_type_dir="/root/print_factory_type" base_path = f"{print_factory_type_dir}/{batch_id}/" - # blank_path = "{print_factory_type_dir}/blank/blank_bias/blank2.obj" - blank_path = f"{print_factory_type_dir}/blank/blank_bias/blank_small.obj" + blank_path = f"{print_factory_type_dir}/blank/blank_bias/blank2.obj" + # blank_path = f"{print_factory_type_dir}/blank/blank_bias/blank_small.obj" + print(f"blank_path={blank_path}") load_show_save(base_path, {}, blank_path, batch_id, True) \ No newline at end of file diff --git a/x_y_min_test.py b/x_y_min_test.py deleted file mode 100644 index bca4e4d..0000000 --- a/x_y_min_test.py +++ /dev/null @@ -1,52 +0,0 @@ -import os -import shutil -import time -import random -import matplotlib.pyplot as plt -import open3d as o3d -import numpy as np - - - -# ply_read_path="/data/datasets_20t/type_setting_test_data/print_bounds_compact_data/88884_253283_P65951_6cm_x1=7.811+11.043+25.699.ply" -# # 读取点云 -# pcd = o3d.io.read_point_cloud(ply_read_path) -# -# # 获取点云的点数据 -# points = np.asarray(pcd.points) -# -# # 计算质心 -# centroid = np.mean(points, axis=0) -# -# # 计算 Y 轴最小值 -# min_y_value = np.min(points[:, 1]) # Y 轴最小值 -# max_y_value = np.max(points[:, 1]) -# -# # 计算 X 轴最小值 -# min_x_value = np.min(points[:, 0]) # X 轴最小值 -# -# print(f'min_x_value{min_x_value}') -# min_x_value -385.08287729332403 -# -ply_read_path="/data/datasets_20t/type_setting_test_data/print_bounds_compact_data/456450_260316_P65976_2.66cm_x1=21.778+22.904+26.333.ply" -# 读取点云 -pcd = o3d.io.read_point_cloud(ply_read_path) - -# 获取点云的点数据 -points = np.asarray(pcd.points) - -# 计算质心 -centroid = np.mean(points, axis=0) - -# 计算 Y 轴最小值 -min_y_value = np.min(points[:, 1]) # Y 轴最小值 -max_y_value = np.max(points[:, 1]) - -# 计算 X 轴最小值 -min_x_value = np.min(points[:, 0]) # X 轴最小值 - -print(f'min_x_value{min_x_value}') -# min_x_value -385.08287729332403 -print(f'min_y_value{min_y_value}') - -# -339 \ No newline at end of file diff --git a/读写时间测试.py b/读写时间测试.py deleted file mode 100644 index 54e0813..0000000 --- a/读写时间测试.py +++ /dev/null @@ -1,152 +0,0 @@ -# import numpy as np -# def calculate_rotation_and_center_of_mass(angle_x, angle_y, angle_z, points): -# """计算某一组旋转角度后的重心""" -# # 计算绕X轴、Y轴和Z轴的旋转矩阵 -# R_x = np.array([ -# [1, 0, 0], -# [0, np.cos(np.radians(angle_x)), -np.sin(np.radians(angle_x))], -# [0, np.sin(np.radians(angle_x)), np.cos(np.radians(angle_x))] -# ]) -# -# R_y = np.array([ -# [np.cos(np.radians(angle_y)), 0, np.sin(np.radians(angle_y))], -# [0, 1, 0], -# [-np.sin(np.radians(angle_y)), 0, np.cos(np.radians(angle_y))] -# ]) -# -# R_z = np.array([ -# [np.cos(np.radians(angle_z)), -np.sin(np.radians(angle_z)), 0], -# [np.sin(np.radians(angle_z)), np.cos(np.radians(angle_z)), 0], -# [0, 0, 1] -# ]) -# -# # 综合旋转矩阵 -# R = R_z @ R_y @ R_x -# -# # 执行旋转 -# rotated_points = points @ R.T -# -# # 计算最小z值 -# min_z = np.min(rotated_points[:, 2]) -# -# # 计算平移向量，将最小Z值平移到0 -# translation_vector = np.array([0, 0, -min_z]) -# rotated_points += translation_vector -# -# # 计算重心 -# center_of_mass = np.mean(rotated_points, axis=0) -# -# return center_of_mass[2], angle_x, angle_y, angle_z -# -# def parallel_rotation(points, angle_step=3): -# """顺序计算最优旋转角度（单线程）""" -# min_center_of_mass_y = float('inf') -# best_angle_x, best_angle_y, best_angle_z = 0, 0, 0 -# -# # 遍历所有角度组合 -# for angle_x in range(0, 360, angle_step): -# for angle_y in range(0, 360, angle_step): -# for angle_z in range(0, 360, angle_step): -# center_of_mass_z, ax, ay, az = calculate_rotation_and_center_of_mass( -# angle_x, angle_y, angle_z, points -# ) -# if center_of_mass_z < min_center_of_mass_y: -# min_center_of_mass_y = center_of_mass_z -# best_angle_x, best_angle_y, best_angle_z = ax, ay, az -# -# return best_angle_x, best_angle_y, best_angle_z, min_center_of_mass_y - - -import bpy -import time -import os -from pathlib import Path - - -def clear_scene(): - """清空当前场景中的所有对象""" - bpy.ops.object.select_all(action='SELECT') - bpy.ops.object.delete() - - -def test_bpy_io(obj_path, output_path): - """测试 bpy 的 OBJ 读写性能""" - # 读取 OBJ - start_time = time.time() - bpy.ops.import_scene.obj(filepath=obj_path) - read_time = time.time() - start_time - - # 确保场景中有对象 - if not bpy.context.scene.objects: - raise ValueError("未成功导入 OBJ 文件") - - # 写入 OBJ - start_time = time.time() - bpy.ops.export_scene.obj( - filepath=output_path, - use_selection=False, # 导出所有对象 - use_materials=False, # 不导出材质（加快速度） - ) - write_time = time.time() - start_time - - # 清理场景 - clear_scene() - - return write_time, read_time - - -def test_folder_objs_with_bpy(folder_path, output_folder="output_objs_bpy"): - """测试文件夹中所有 OBJ 文件的读写性能（使用 bpy）""" - # 确保输出文件夹存在 - Path(output_folder).mkdir(exist_ok=True) - - # 收集所有 OBJ 文件 - obj_files = [f for f in os.listdir(folder_path) if f.lower().endswith('.obj')] - - if not obj_files: - print(f"在文件夹 {folder_path} 中未找到 OBJ 文件") - return - - print(f"找到 {len(obj_files)} 个 OBJ 文件，开始测试...") - - results = [] - - for obj_file in obj_files: - input_path = os.path.join(folder_path, obj_file) - output_path = os.path.join(output_folder, f"bpy_{obj_file}") - - print(f"\n测试文件: {obj_file}") - - try: - write_time, read_time = test_bpy_io(input_path, output_path) - file_size = os.path.getsize(input_path) / (1024 * 1024) # MB - - print(f" 文件大小: {file_size:.2f} MB") - print(f" bpy 读取时间: {read_time:.3f}s") - print(f" bpy 写入时间: {write_time:.3f}s") - - results.append({ - "filename": obj_file, - "size_mb": file_size, - "read_time": read_time, - "write_time": write_time, - }) - - except Exception as e: - print(f" 处理 {obj_file} 时出错: {e}") - - # 计算平均时间 - if results: - avg_read = sum(r["read_time"] for r in results) / len(results) - avg_write = sum(r["write_time"] for r in results) / len(results) - print("\n=== 汇总结果 ===") - print(f"平均读取时间: {avg_read:.3f}s") - print(f"平均写入时间: {avg_write:.3f}s") - - -if __name__ == "__main__": - # 设置包含OBJ文件的文件夹路径 - obj_folder = "/data/datasets_20t/9_big/" # 替换为你的OBJ文件夹路径 - - # 运行测试 - test_folder_objs_with_bpy(obj_folder) diff --git a/读写时间测试2.py b/读写时间测试2.py deleted file mode 100644 index 25bc71a..0000000 --- a/读写时间测试2.py +++ /dev/null @@ -1,98 +0,0 @@ -import os -import time -import open3d as o3d -import trimesh -from pathlib import Path - - -def test_folder_objs(folder_path, output_folder="output_objs"): - """测试文件夹中所有OBJ文件的读写性能""" - # 确保输出文件夹存在 - Path(output_folder).mkdir(exist_ok=True) - - # 收集文件夹中所有OBJ文件 - obj_files = [f for f in os.listdir(folder_path) if f.lower().endswith('.obj')] - - if not obj_files: - print(f"在文件夹 {folder_path} 中未找到OBJ文件") - return - - print(f"找到 {len(obj_files)} 个OBJ文件，开始测试...") - - # 准备结果记录 - results = [] - - for obj_file in obj_files: - file_path = os.path.join(folder_path, obj_file) - output_path = os.path.join(output_folder, obj_file) - - print(f"\n测试文件: {obj_file}") - - # 测试open3d - o3d_write, o3d_read = test_open3d_io(file_path, output_path.replace('.obj', '_o3d.obj')) - - # 测试trimesh - tm_write, tm_read = test_trimesh_io(file_path, output_path.replace('.obj', '_tm.obj')) - - # 记录结果 - file_stats = { - 'filename': obj_file, - 'o3d_write': o3d_write, - 'o3d_read': o3d_read, - 'tm_write': tm_write, - 'tm_read': tm_read, - 'write_ratio': o3d_write / tm_write if tm_write > 0 else 0, - 'read_ratio': o3d_read / tm_read if tm_read > 0 else 0 - } - results.append(file_stats) - - # 打印当前文件结果 - print(f" open3d | 写入: {o3d_write:.3f}s | 读取: {o3d_read:.3f}s") - print(f" trimesh | 写入: {tm_write:.3f}s | 读取: {tm_read:.3f}s") - print(f" 写入速度比(trimesh/open3d): {file_stats['write_ratio']:.1f}x") - print(f" 读取速度比(trimesh/open3d): {file_stats['read_ratio']:.1f}x") - - # 打印汇总结果 - print("\n=== 汇总结果 ===") - avg_write_ratio = sum(r['write_ratio'] for r in results) / len(results) - avg_read_ratio = sum(r['read_ratio'] for r in results) / len(results) - print(f"平均写入速度比(trimesh/open3d): {avg_write_ratio:.1f}x") - print(f"平均读取速度比(trimesh/open3d): {avg_read_ratio:.1f}x") - - -def test_open3d_io(input_path, output_path): - """测试open3d的读写性能""" - # 读取 - start = time.time() - mesh = o3d.io.read_triangle_mesh(input_path) - read_time = time.time() - start - - # 写入 - start = time.time() - o3d.io.write_triangle_mesh(output_path, mesh) - write_time = time.time() - start - - return write_time, read_time - - -def test_trimesh_io(input_path, output_path): - """测试trimesh的读写性能""" - # 读取 - start = time.time() - mesh = trimesh.load(input_path) - read_time = time.time() - start - - # 写入 - start = time.time() - mesh.export(output_path) - write_time = time.time() - start - - return write_time, read_time - - -if __name__ == "__main__": - # 设置包含OBJ文件的文件夹路径 - obj_folder = "/data/datasets_20t/9_big/" # 替换为你的OBJ文件夹路径 - - # 运行测试 - test_folder_objs(obj_folder) \ No newline at end of file