cheng
62 lines
3.1 KiB
Python
62 lines
3.1 KiB
Python
#!/usr/bin/env python3
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"""Offline STEP -> triangle cache for Qt OpenGL. No robot/ROS/device operations.
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Requires gmsh (OpenCascade). Runtime GUI needs only numpy and the generated NPZ.
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"""
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import argparse
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import hashlib
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import json
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from pathlib import Path
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import gmsh
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import numpy as np
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def convert(source, output):
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source=Path(source).resolve();output=Path(output).resolve()
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gmsh.initialize(['step-converter','-nopopup'])
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try:
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gmsh.option.setNumber('General.Terminal',0)
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gmsh.option.setString('Geometry.OCCTargetUnit','MM')
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gmsh.model.add('gripper')
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gmsh.model.occ.importShapes(str(source));gmsh.model.occ.synchronize()
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gmsh.option.setNumber('Mesh.MeshSizeMin',.8)
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gmsh.option.setNumber('Mesh.MeshSizeMax',2.)
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gmsh.option.setNumber('Mesh.MeshSizeFromCurvature',18)
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gmsh.option.setNumber('Mesh.ElementOrder',1)
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gmsh.model.mesh.generate(2)
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tags,coords,_=gmsh.model.mesh.getNodes()
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order=np.argsort(tags);sorted_tags=tags[order]
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nodes=np.asarray(coords).reshape(-1,3)[order]
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parts=[];colors=[];labels=[]
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surfaces=gmsh.model.getEntities(2)
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for part,(_,tag) in enumerate(surfaces):
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kinds,_,element_nodes=gmsh.model.mesh.getElements(2,tag)
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r,g,b,a=gmsh.model.getColor(2,tag)
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base=np.array([r,g,b],float)/255.
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if np.max(base)-np.min(base)<.03: base=np.array([.76,.79,.83])
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for kind,indices in zip(kinds,element_nodes):
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if kind!=2: raise ValueError('Only first order triangles are supported')
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indices=np.asarray(indices).reshape(-1,3)
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triangles=nodes[np.searchsorted(sorted_tags,indices)]
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parts.append(triangles/1000.)
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colors.append(np.tile(base,(len(triangles),1)))
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labels.append(np.full(len(triangles),part,np.int32))
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triangles=np.concatenate(parts).astype(np.float32)
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rgb=np.concatenate(colors).astype(np.float32)
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if not np.isfinite(triangles).all() or not len(triangles):raise ValueError('Invalid mesh')
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lo=triangles.min(axis=(0,1));hi=triangles.max(axis=(0,1))
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output.parent.mkdir(parents=True,exist_ok=True)
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np.savez_compressed(output,triangles=triangles,colors=rgb,surface=np.concatenate(labels))
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info=dict(source=source.name,source_sha256=hashlib.sha256(source.read_bytes()).hexdigest(),
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units='m',source_units='mm',triangles=len(triangles),surfaces=len(surfaces),
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solids=len(gmsh.model.getEntities(3)),bounds_m=[lo.tolist(),hi.tolist()],
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dimensions_mm=((hi-lo)*1000).tolist(),articulated=False,
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note='Original assembled STEP pose; no inferred joints or live finger animation.')
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output.with_suffix('.json').write_text(json.dumps(info,ensure_ascii=False,indent=2)+'\n')
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print(json.dumps(info,ensure_ascii=False))
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finally:gmsh.finalize()
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if __name__=='__main__':
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parser=argparse.ArgumentParser();parser.add_argument('source');parser.add_argument('output')
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args=parser.parse_args();convert(args.source,args.output)
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