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+11
-11
@@ -6,9 +6,11 @@ from typing import cast
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import requests
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from download_print import download_datas_by_pre_layout
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from download_print import BatchModelInfo
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from download_print import is_test
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from print_factory_type_setting_obj_run import print_type_setting_obj
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from config import print_factory_type_dir
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from config import is_test
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from general import is_run_local_data
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# 如果没有 DISPLAY，自动启动 Xvfb
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if "DISPLAY" not in os.environ:
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@@ -161,8 +163,8 @@ def main():
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def test_main():
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# while True:
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# 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, 'order_id': 917900, 'pid': 376666, 'print_id': 126318}, {'counts': 1, 'layout_z': 31.380497732946978, 'model_weight': 35.158, 'order_id': 917810, 'pid': 376562, 'print_id': 126413}, {'counts': 1, 'layout_z': 26.136854969886777, 'model_weight': 21.403, 'order_id': 917820, 'pid': 376572, 'print_id': 126414}, {'counts': 1, 'layout_z': 37.967177899738104, 'model_weight': 30.48, 'order_id': 917922, 'pid': 376684, 'print_id': 126415}, {'counts': 1, 'layout_z': 20.368887098446734, 'model_weight': 13.097, 'order_id': 918228, 'pid': 377198, 'print_id': 126417}, {'counts': 1, 'layout_z': 21.4227336927951, 'model_weight': 15.859, 'order_id': 917576, 'pid': 376345, 'print_id': 126769}, {'counts': 1, 'layout_z': 27.539947066784066, 'model_weight': 25.185, 'order_id': 917811, 'pid': 376564, 'print_id': 126875}, {'counts': 1, 'layout_z': 31.692723822970393, 'model_weight': 32.796, 'order_id': 917821, 'pid': 376592, 'print_id': 126876}, {'counts': 1, 'layout_z': 20.20031720146163, 'model_weight': 8.664, 'order_id': 917822, 'pid': 376602, 'print_id': 126877}, {'counts': 1, 'layout_z': 22.41680629925537, 'model_weight': 15.206, 'order_id': 917827, 'pid': 376616, 'print_id': 126878}, {'counts': 1, 'layout_z': 25.443981671314514, 'model_weight': 11.965, 'order_id': 917879, 'pid': 376635, 'print_id': 126879}, {'counts': 1, 'layout_z': 31.09222672704002, 'model_weight': 20.318, 'order_id': 917902, 'pid': 376667, 'print_id': 126882}, {'counts': 1, 'layout_z': 30.3317820592175, 'model_weight': 32.964, 'order_id': 917903, 'pid': 376668, 'print_id': 126884}, {'counts': 1, 'layout_z': 28.69639626624317, 'model_weight': 27.751, 'order_id': 917904, 'pid': 376669, 'print_id': 126885}, {'counts': 1, 'layout_z': 28.043180029163203, 'model_weight': 19.866, 'order_id': 917917, 'pid': 376677, 'print_id': 126886}, {'counts': 1, 'layout_z': 28.58783468947201, 'model_weight': 25.505, 'order_id': 918196, 'pid': 377126, 'print_id': 126888}, {'counts': 1, 'layout_z': 43.55871899466554, 'model_weight': 63.512, 'order_id': 918201, 'pid': 377131, 'print_id': 126890}, {'counts': 1, 'layout_z': 32.52479624889478, 'model_weight': 22.943, 'order_id': 918203, 'pid': 377133, 'print_id': 126891}, {'counts': 1, 'layout_z': 33.21834123013511, 'model_weight': 42.163, 'order_id': 918206, 'pid': 377139, 'print_id': 126892}, {'counts': 1, 'layout_z': 27.81674335447885, 'model_weight': 15.455, 'order_id': 918207, 'pid': 377141, 'print_id': 126893}, {'counts': 1, 'layout_z': 29.78203639784899, 'model_weight': 29.696, 'order_id': 918231, 'pid': 377201, 'print_id': 126894}, {'counts': 1, 'layout_z': 23.66875736859606, 'model_weight': 13.39, 'order_id': 915637, 'pid': 373135, 'print_id': 126895}, {'counts': 1, 'layout_z': 29.00408914521088, 'model_weight': 19.553, 'order_id': 918246, 'pid': 377209, 'print_id': 126897}, {'counts': 1, 'layout_z': 24.44397251338635, 'model_weight': 15.424, 'order_id': 918325, 'pid': 376974, 'print_id': 126899}, {'counts': 1, 'layout_z': 31.755406379699707, 'model_weight': 31.131, 'order_id': 918492, 'pid': 377584, 'print_id': 126900}, {'counts': 1, 'layout_z': 38.03699946264237, 'model_weight': 47.412, 'order_id': 918493, 'pid': 377587, 'print_id': 126901}, {'counts': 1, 'layout_z': 43.52919799223749, 'model_weight': 37.842, 'order_id': 918494, 'pid': 377589, 'print_id': 126902}, {'counts': 1, 'layout_z': 25.906302369108843, 'model_weight': 18.64, 'order_id': 918495, 'pid': 377590, 'print_id': 126903}, {'counts': 1, 'layout_z': 36.02611978829816, 'model_weight': 43.814, 'order_id': 918496, 'pid': 377591, 'print_id': 126904}, {'counts': 1, 'layout_z': 26.020689766262052, 'model_weight': 18.513, 'order_id': 918497, 'pid': 377594, 'print_id': 126905}, {'counts': 1, 'layout_z': 23.988078117370605, 'model_weight': 15.753, 'order_id': 918498, 'pid': 377596, 'print_id': 126906}, {'counts': 1, 'layout_z': 27.457814063914604, 'model_weight': 23.507, 'order_id': 918500, 'pid': 377601, 'print_id': 126908}, {'counts': 1, 'layout_z': 29.306090320672993, 'model_weight': 25.043, 'order_id': 918501, 'pid': 377605, 'print_id': 126909}, {'counts': 1, 'layout_z': 29.070231478924583, 'model_weight': 25.598, 'order_id': 918504, 'pid': 377606, 'print_id': 126910}, {'counts': 1, 'layout_z': 24.314504768436095, 'model_weight': 18.68, 'order_id': 918555, 'pid': 377684, 'print_id': 126911}, {'counts': 1, 'layout_z': 37.52979171030315, 'model_weight': 53.541, 'order_id': 918558, 'pid': 377689, 'print_id': 126913}, {'counts': 1, 'layout_z': 26.530791960490333, 'model_weight': 15.082, 'order_id': 918560, 'pid': 377702, 'print_id': 126915}, {'counts': 1, 'layout_z': 23.604568481445312, 'model_weight': 21.614, 'order_id': 918583, 'pid': 377748, 'print_id': 126917}, {'counts': 1, 'layout_z': 27.865868478825355, 'model_weight': 22.6, 'order_id': 918636, 'pid': 377819, 'print_id': 126919}, {'counLine truncated
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data= {"machine_print_counts":50,"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}]}
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# data= {'machine_print_counts': 150, 'machine_type': 'small_machine', 'pre_batch_id': 9910032, 'print_machine_id': 14, 'print_orders': [{'counts': 1, 'layout_z': 35.62070959151145, 'model_weight': 41.862, 'order_id': 917900, 'pid': 376666, 'print_id': 126318}, {'counts': 1, 'layout_z': 31.380497732946978, 'model_weight': 35.158, 'order_id': 917810, 'pid': 376562, 'print_id': 126413}, {'counts': 1, 'layout_z': 26.136854969886777, 'model_weight': 21.403, 'order_id': 917820, 'pid': 376572, 'print_id': 126414}, {'counts': 1, 'layout_z': 37.967177899738104, 'model_weight': 30.48, 'order_id': 917922, 'pid': 376684, 'print_id': 126415}, {'counts': 1, 'layout_z': 20.368887098446734, 'model_weight': 13.097, 'order_id': 918228, 'pid': 377198, 'print_id': 126417}, {'counts': 1, 'layout_z': 21.4227336927951, 'model_weight': 15.859, 'order_id': 917576, 'pid': 376345, 'print_id': 126769}, {'counts': 1, 'layout_z': 27.539947066784066, 'model_weight': 25.185, 'order_id': 917811, 'pid': 376564, 'print_id': 126875}, {'counts': 1, 'layout_z': 31.692723822970393, 'model_weight': 32.796, 'order_id': 917821, 'pid': 376592, 'print_id': 126876}, {'counts': 1, 'layout_z': 20.20031720146163, 'model_weight': 8.664, 'order_id': 917822, 'pid': 376602, 'print_id': 126877}, {'counts': 1, 'layout_z': 22.41680629925537, 'model_weight': 15.206, 'order_id': 917827, 'pid': 376616, 'print_id': 126878}, {'counts': 1, 'layout_z': 25.443981671314514, 'model_weight': 11.965, 'order_id': 917879, 'pid': 376635, 'print_id': 126879}, {'counts': 1, 'layout_z': 31.09222672704002, 'model_weight': 20.318, 'order_id': 917902, 'pid': 376667, 'print_id': 126882}, {'counts': 1, 'layout_z': 30.3317820592175, 'model_weight': 32.964, 'order_id': 917903, 'pid': 376668, 'print_id': 126884}, {'counts': 1, 'layout_z': 28.69639626624317, 'model_weight': 27.751, 'order_id': 917904, 'pid': 376669, 'print_id': 126885}, {'counts': 1, 'layout_z': 28.043180029163203, 'model_weight': 19.866, 'order_id': 917917, 'pid': 376677, 'print_id': 126886}, {'counts': 1, 'layout_z': 28.58783468947201, 'model_weight': 25.505, 'order_id': 918196, 'pid': 377126, 'print_id': 126888}, {'counts': 1, 'layout_z': 43.55871899466554, 'model_weight': 63.512, 'order_id': 918201, 'pid': 377131, 'print_id': 126890}, {'counts': 1, 'layout_z': 32.52479624889478, 'model_weight': 22.943, 'order_id': 918203, 'pid': 377133, 'print_id': 126891}, {'counts': 1, 'layout_z': 33.21834123013511, 'model_weight': 42.163, 'order_id': 918206, 'pid': 377139, 'print_id': 126892}, {'counts': 1, 'layout_z': 27.81674335447885, 'model_weight': 15.455, 'order_id': 918207, 'pid': 377141, 'print_id': 126893}, {'counts': 1, 'layout_z': 29.78203639784899, 'model_weight': 29.696, 'order_id': 918231, 'pid': 377201, 'print_id': 126894}, {'counts': 1, 'layout_z': 23.66875736859606, 'model_weight': 13.39, 'order_id': 915637, 'pid': 373135, 'print_id': 126895}, {'counts': 1, 'layout_z': 29.00408914521088, 'model_weight': 19.553, 'order_id': 918246, 'pid': 377209, 'print_id': 126897}, {'counts': 1, 'layout_z': 24.44397251338635, 'model_weight': 15.424, 'order_id': 918325, 'pid': 376974, 'print_id': 126899}, {'counts': 1, 'layout_z': 31.755406379699707, 'model_weight': 31.131, 'order_id': 918492, 'pid': 377584, 'print_id': 126900}, {'counts': 1, 'layout_z': 38.03699946264237, 'model_weight': 47.412, 'order_id': 918493, 'pid': 377587, 'print_id': 126901}, {'counts': 1, 'layout_z': 43.52919799223749, 'model_weight': 37.842, 'order_id': 918494, 'pid': 377589, 'print_id': 126902}, {'counts': 1, 'layout_z': 25.906302369108843, 'model_weight': 18.64, 'order_id': 918495, 'pid': 377590, 'print_id': 126903}, {'counts': 1, 'layout_z': 36.02611978829816, 'model_weight': 43.814, 'order_id': 918496, 'pid': 377591, 'print_id': 126904}, {'counts': 1, 'layout_z': 26.020689766262052, 'model_weight': 18.513, 'order_id': 918497, 'pid': 377594, 'print_id': 126905}, {'counts': 1, 'layout_z': 23.988078117370605, 'model_weight': 15.753, 'order_id': 918498, 'pid': 377596, 'print_id': 126906}, {'counts': 1, 'layout_z': 27.457814063914604, 'model_weight': 23.507, 'order_id': 918500, 'pid': 377601, 'print_id': 126908}, {'counts': 1, 'layout_z': 29.306090320672993, 'model_weight': 25.043, 'order_id': 918501, 'pid': 377605, 'print_id': 126909}, {'counts': 1, 'layout_z': 29.070231478924583, 'model_weight': 25.598, 'order_id': 918504, 'pid': 377606, 'print_id': 126910}, {'counts': 1, 'layout_z': 24.314504768436095, 'model_weight': 18.68, 'order_id': 918555, 'pid': 377684, 'print_id': 126911}, {'counts': 1, 'layout_z': 37.52979171030315, 'model_weight': 53.541, 'order_id': 918558, 'pid': 377689, 'print_id': 126913}, {'counts': 1, 'layout_z': 26.530791960490333, 'model_weight': 15.082, 'order_id': 918560, 'pid': 377702, 'print_id': 126915}, {'counts': 1, 'layout_z': 23.604568481445312, 'model_weight': 21.614, 'order_id': 918583, 'pid': 377748, 'print_id': 126917}, {'counts': 1, 'layout_z': 27.865868478825355, 'model_weight': 22.6, 'order_id': 918636, 'pid': 37Line truncated
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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}]}
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process_clound_print(data)
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@@ -218,9 +220,7 @@ def process_clound_print(data):
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machine_print_counts = parsed["machine_print_counts"]
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machine_type = "big_machine"
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if not is_test:
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machine_type = parsed["machine_type"]
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machine_type = parsed["machine_type"]
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if machine_type == "small_machine" :
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selected_machine = "小机型"
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@@ -313,7 +313,6 @@ def process_clound_print(data):
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print("-" * 40)
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print_factory_type_dir="/root/print_factory_type"
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workdir = f"{print_factory_type_dir}/data/{pre_batch_id}"
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oss_config = f"{print_factory_type_dir}/print_factory_type_setting_big/download_print/run.yaml"
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@@ -331,14 +330,15 @@ def process_clound_print(data):
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src_dir = pre_batch_id
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selected_mode="紧凑" # 标准 紧凑
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output_format="JSON" # 模型 JSON
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cache_type_setting_dir=f"{print_factory_type_dir}/data/{src_dir}/arrange"
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base_original_obj_dir = f"{print_factory_type_dir}/data/{src_dir}"
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print_type_setting_obj(base_original_obj_dir=base_original_obj_dir,cache_type_setting_dir=cache_type_setting_dir,
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batch_id=pre_batch_id,show_chart=False,selected_mode=selected_mode,output_format=output_format,selected_machine=selected_machine)
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print_type_setting_obj(base_original_obj_dir=base_original_obj_dir,batch_id=pre_batch_id,
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selected_mode=selected_mode,output_format=output_format,selected_machine=selected_machine)
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#排版结束
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if __name__ == '__main__':
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if is_test:
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print(f"is_run_local_data={is_run_local_data()}")
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if is_run_local_data():
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# if is_test:
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test_main()
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else:
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print(f"is_test={is_test}, run main")
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@@ -0,0 +1,748 @@
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import open3d as o3d
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import numpy as np
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import copy
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import time
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import argparse
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from general import *
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# -------------------------- 开始：获取z值最低 --------------------------
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"""
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对外部提供的获取最低z的接口
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get_lowest_position_of_z_out
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参数:
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obj_path, 模型数据路径
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返回:
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total_matrix: 旋转矩阵
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z_max: Z最高点
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"""
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def get_lowest_position_of_z_out(mesh_obj):
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total_matrix = np.eye(4)
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voxel_size = 3
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# print(f"obj_path={obj_path}, get_lowest_position_of_center voxel_size={voxel_size}")
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start_time1 = time.time()
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vertices = np.asarray(mesh_obj.vertices)
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# 确保网格有顶点
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if len(vertices) == 0:
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# raise ValueError(f"Mesh has no vertices: {obj_path}")
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print(f"Warning: Mesh has no vertices: {mesh_obj}")
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return None
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pcd = o3d.geometry.PointCloud()
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pcd.points = o3d.utility.Vector3dVector(vertices)
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# print("voxel_size",voxel_size,obj_path, len(pcd.points), len(mesh_obj.vertices))
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# 对点云进行下采样（体素网格法）
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#"""
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pcd_downsampled = down_sample(pcd, voxel_size)
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pcd_downsampled.paint_uniform_color([0, 0, 1])
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if len(np.asarray(pcd_downsampled.points)) <= 0:
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bbox = pcd.get_axis_aligned_bounding_box()
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volume = bbox.volume()
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# print(f"len(pcd.points)={len(pcd.points)}, volume={volume}")
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# 处理体积为零的情况
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if volume <= 0:
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# 计算点云的实际范围
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points = np.asarray(pcd.points)
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if len(points) > 0:
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min_bound = np.min(points, axis=0)
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max_bound = np.max(points, axis=0)
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extent = max_bound - min_bound
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# 确保最小维度至少为0.01
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min_dimension = max(0.01, np.min(extent))
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volume = min_dimension ** 3
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else:
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volume = 1.0 # 最后的安全回退
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print(f"Warning: Zero volume detected, using approximated volume {volume:.6f} for {obj_path}")
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# 安全计算密度 - 防止除零错误
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if len(pcd.points) > 0 and volume > 0:
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original_density = len(pcd.points) / volume
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voxel_size = max(0.01, min(10.0, 0.5 / (max(1e-6, original_density) ** 0.33)))
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else:
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# 当点数为0或体积为0时使用默认体素大小
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voxel_size = 1.0 # 默认值
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print(f"Recalculated voxel_size: {voxel_size} for {obj_path}")
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pcd_downsampled = down_sample(pcd, voxel_size)
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pcd_downsampled.paint_uniform_color([0, 0, 1])
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original_num = len(pcd.points)
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target_samples = 1000
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num_samples = min(target_samples, original_num)
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# print("get_lowest_position_of_center1 time", time.time()-start_time1)
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start_time2 = time.time()
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# 确保下采样后有点云
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if len(np.asarray(pcd_downsampled.points)) == 0:
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# 使用原始点云作为后备
|
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pcd_downsampled = pcd
|
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print(f"Warning: Using original point cloud for {obj_path} as downsampling produced no points")
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|
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points = np.asarray(pcd_downsampled.points)
|
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# 初始化最小重心Y的值
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max_z_of_mass_y = float('inf')
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best_angle_x, best_angle_y, best_angle_z = 0, 0, 0
|
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best_angle_x, best_angle_y, best_angle_z, max_z_of_mass_y = parallel_rotation(points, angle_step=3)
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||||
# 使用最佳角度进行旋转并平移obj
|
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pcd_transformed = copy.deepcopy(mesh_obj)
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||||
# 最佳角度旋转
|
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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)
|
||||
|
||||
@@ -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]
|
||||
+10
-60
@@ -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}"
|
||||
|
||||
|
||||
+29
-89
@@ -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))))
|
||||
import requests
|
||||
import json
|
||||
import shutil
|
||||
|
||||
# 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 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)
|
||||
|
||||
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__":
|
||||
|
||||
script_args = []
|
||||
|
||||
try:
|
||||
separator_index = sys.argv.index("--")
|
||||
script_args = sys.argv[separator_index + 1:]
|
||||
except ValueError:
|
||||
pass
|
||||
|
||||
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}
|
||||
|
||||
+286
@@ -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 --------------------------
|
||||
@@ -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)
|
||||
@@ -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)
|
||||
|
||||
@@ -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_max_x and bounds_center[1]<bounds_max_y:
|
||||
# print("添加",ply_file_near)
|
||||
# need_check_list.append(ply_file_near)
|
||||
|
||||
#if bounds_near_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']},
|
||||
"""
|
||||
|
||||
+295
@@ -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。
|
||||
File diff suppressed because it is too large.
Load diff
@@ -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)
|
||||
@@ -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)
|
||||
@@ -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)
|
||||
File diff suppressed because it is too large.
Load diff
@@ -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_())
|
||||
|
||||
|
||||
@@ -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"))
|
||||
|
||||
@@ -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")]
|
||||
|
||||
@@ -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_())
|
||||
@@ -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,
|
||||
)
|
||||
@@ -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_())
|
||||
-25
@@ -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
|
||||
"""
|
||||
@@ -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',
|
||||
)
|
||||
@@ -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()
|
||||
@@ -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
|
||||
+10
-24
@@ -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)
|
||||
|
||||
@@ -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
|
||||
@@ -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)
|
||||
-98
@@ -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)
|
||||
Reference in new issue
Block a user