454 lines
17 KiB
Python
454 lines
17 KiB
Python
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import numpy as np
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import collections
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import json
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from .. import util
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from .. import visual
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from .. import transformations as tf
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try:
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import networkx as nx
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except BaseException as E:
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# create a dummy module which will raise the ImportError
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# or other exception only when someone tries to use networkx
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from ..exceptions import ExceptionModule
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nx = ExceptionModule(E)
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def load_XAML(file_obj, *args, **kwargs):
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"""
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Load a 3D XAML file.
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Parameters
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----------
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file_obj : file object
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Open, containing XAML file
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Returns
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----------
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result : dict
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kwargs for a trimesh constructor, including:
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vertices: (n,3) np.float64, points in space
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faces: (m,3) np.int64, indices of vertices
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face_colors: (m,4) np.uint8, RGBA colors
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vertex_normals: (n,3) np.float64, vertex normals
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"""
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def element_to_color(element):
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"""
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Turn an XML element into a (4,) np.uint8 RGBA color
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"""
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if element is None:
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return visual.DEFAULT_COLOR
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hexcolor = int(element.attrib['Color'].replace('#', ''), 16)
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opacity = float(element.attrib['Opacity'])
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rgba = [(hexcolor >> 16) & 0xFF,
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(hexcolor >> 8) & 0xFF,
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(hexcolor & 0xFF),
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opacity * 0xFF]
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rgba = np.array(rgba, dtype=np.uint8)
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return rgba
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def element_to_transform(element):
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"""
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Turn an XML element into a (4,4) np.float64
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transformation matrix.
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"""
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try:
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matrix = next(element.iter(
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tag=ns + 'MatrixTransform3D')).attrib['Matrix']
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matrix = np.array(matrix.split(),
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dtype=np.float64).reshape((4, 4)).T
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return matrix
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except StopIteration:
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# this will be raised if the MatrixTransform3D isn't in the passed
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# elements tree
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return np.eye(4)
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# read the file and parse XML
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file_data = file_obj.read()
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root = etree.XML(file_data)
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# the XML namespace
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ns = root.tag.split('}')[0] + '}'
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# the linked lists our results are going in
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vertices = []
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faces = []
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colors = []
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normals = []
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# iterate through the element tree
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# the GeometryModel3D tag contains a material and geometry
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for geometry in root.iter(tag=ns + 'GeometryModel3D'):
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# get the diffuse and specular colors specified in the material
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color_search = './/{ns}{color}Material/*/{ns}SolidColorBrush'
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diffuse = geometry.find(color_search.format(ns=ns,
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color='Diffuse'))
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specular = geometry.find(color_search.format(ns=ns,
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color='Specular'))
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# convert the element into a (4,) np.uint8 RGBA color
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diffuse = element_to_color(diffuse)
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specular = element_to_color(specular)
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# to get the final transform of a component we'll have to traverse
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# all the way back to the root node and save transforms we find
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current = geometry
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transforms = collections.deque()
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# when the root node is reached its parent will be None and we stop
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while current is not None:
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# element.find will only return elements that are direct children
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# of the current element as opposed to element.iter,
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# which will return any depth of child
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transform_element = current.find(ns + 'ModelVisual3D.Transform')
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if transform_element is not None:
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# we are traversing the tree backwards, so append new
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# transforms to the left of the deque
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transforms.appendleft(element_to_transform(transform_element))
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# we are going from the lowest level of the tree to the highest
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# this avoids having to traverse any branches that don't have
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# geometry
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current = current.getparent()
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if len(transforms) == 0:
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# no transforms in the tree mean an identity matrix
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transform = np.eye(4)
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elif len(transforms) == 1:
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# one transform in the tree we can just use
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transform = transforms.pop()
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else:
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# multiple transforms we apply all of them in order
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transform = util.multi_dot(transforms)
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# iterate through the contained mesh geometry elements
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for g in geometry.iter(tag=ns + 'MeshGeometry3D'):
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c_normals = np.array(g.attrib['Normals'].replace(',', ' ').split(),
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dtype=np.float64).reshape((-1, 3))
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c_vertices = np.array(
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g.attrib['Positions'].replace(
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',', ' ').split(), dtype=np.float64).reshape(
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(-1, 3))
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# bake in the transform as we're saving
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c_vertices = tf.transform_points(c_vertices, transform)
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c_faces = np.array(
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g.attrib['TriangleIndices'].replace(
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',', ' ').split(), dtype=np.int64).reshape(
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(-1, 3))
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# save data to a sequence
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vertices.append(c_vertices)
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faces.append(c_faces)
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colors.append(np.tile(diffuse, (len(c_faces), 1)))
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normals.append(c_normals)
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# compile the results into clean numpy arrays
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result = dict()
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result['vertices'], result['faces'] = util.append_faces(vertices,
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faces)
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result['face_colors'] = np.vstack(colors)
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result['vertex_normals'] = np.vstack(normals)
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return result
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def load_3DXML(file_obj, *args, **kwargs):
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"""
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Load a 3DXML scene into kwargs. 3DXML is a CAD format
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that can be exported from Solidworks
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Parameters
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------------
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file_obj : file object
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Open and containing 3DXML data
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Returns
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-----------
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kwargs : dict
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Can be passed to trimesh.exchange.load.load_kwargs
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"""
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archive = util.decompress(file_obj, file_type='zip')
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# a dictionary of file name : lxml etree
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as_etree = {}
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for k, v in archive.items():
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# wrap in try statement, as sometimes 3DXML
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# contains non- xml files, like JPG previews
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try:
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as_etree[k] = etree.XML(v.read())
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except etree.XMLSyntaxError:
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# move the file object back to the file start
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v.seek(0)
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# the file name of the root scene
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root_file = as_etree['Manifest.xml'].find('{*}Root').text
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# the etree of the scene layout
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tree = as_etree[root_file]
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# index of root element of directed acyclic graph
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root_id = tree.find('{*}ProductStructure').attrib['root']
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# load the materials library from the materials elements
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colors = {}
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material_tree = as_etree['CATMaterialRef.3dxml']
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for MaterialDomain in material_tree.iter('{*}MaterialDomain'):
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material_id = MaterialDomain.attrib['id']
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material_file = MaterialDomain.attrib['associatedFile'].split(
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'urn:3DXML:')[-1]
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rend = as_etree[material_file].find(
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"{*}Feature[@Alias='RenderingFeature']")
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diffuse = rend.find("{*}Attr[@Name='DiffuseColor']")
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# specular = rend.find("{*}Attr[@Name='SpecularColor']")
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# emissive = rend.find("{*}Attr[@Name='EmissiveColor']")
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rgb = (np.array(json.loads(
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diffuse.attrib['Value'])) * 255).astype(np.uint8)
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colors[material_id] = rgb
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# copy indexes for instances of colors
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for MaterialDomainInstance in material_tree.iter(
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'{*}MaterialDomainInstance'):
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instance = MaterialDomainInstance.find('{*}IsInstanceOf')
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# colors[b.attrib['id']] = colors[instance.text]
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for aggregate in MaterialDomainInstance.findall('{*}IsAggregatedBy'):
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colors[aggregate.text] = colors[instance.text]
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# references which hold the 3DXML scene structure as a dict
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# element id : {key : value}
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references = collections.defaultdict(dict)
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# the 3DXML can specify different visual properties for occurrences
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view = tree.find('{*}DefaultView')
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for ViewProp in view.iter('{*}DefaultViewProperty'):
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color = ViewProp.find('{*}GraphicProperties/' +
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'{*}SurfaceAttributes/{*}Color')
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if (color is None or
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'RGBAColorType' not in color.attrib.values()):
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continue
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rgba = np.array([color.attrib[i]
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for i in ['red',
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'green',
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'blue',
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'alpha']],
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dtype=np.float)
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rgba = (rgba * 255).astype(np.uint8)
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for occurrence in ViewProp.findall('{*}OccurenceId/{*}id'):
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reference_id = occurrence.text.split('#')[-1]
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references[reference_id]['color'] = rgba
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# geometries will hold meshes
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geometries = dict()
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# get geometry
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for ReferenceRep in tree.iter(tag='{*}ReferenceRep'):
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# the str of an int that represents this meshes unique ID
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part_id = ReferenceRep.attrib['id']
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# which part file in the archive contains the geometry we care about
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part_file = ReferenceRep.attrib['associatedFile'].split(':')[-1]
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# load actual geometry
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mesh_faces = []
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mesh_colors = []
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mesh_normals = []
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mesh_vertices = []
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# the geometry is stored in a Rep
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for Rep in as_etree[part_file].iter('{*}Rep'):
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faces = Rep.find('{*}Faces/{*}Face')
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vertices = Rep.find('{*}VertexBuffer/{*}Positions')
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if faces is None or vertices is None:
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continue
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# these are vertex normals
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normals = Rep.find('{*}VertexBuffer/{*}Normals')
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material = Rep.find('{*}SurfaceAttributes/' +
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'{*}MaterialApplication/' +
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'{*}MaterialId')
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(material_file, material_id) = material.attrib['id'].split(
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'urn:3DXML:')[-1].split('#')
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# triangle strips, sequence of arbitrary length lists
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# np.fromstring is substantially faster than np.array(i.split())
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# inside the list comprehension
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strips = [np.fromstring(i, sep=' ', dtype=np.int64)
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for i in faces.attrib['strips'].split(',')]
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# convert strips to (m,3) int
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mesh_faces.append(util.triangle_strips_to_faces(strips))
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# they mix delimiters like we couldn't figure it out from the
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# shape :(
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# load vertices into (n, 3) float64
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mesh_vertices.append(np.fromstring(
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vertices.text.replace(',', ' '),
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sep=' ',
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dtype=np.float64).reshape((-1, 3)))
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# load vertex normals into (n, 3) float64
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mesh_normals.append(np.fromstring(
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normals.text.replace(',', ' '),
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sep=' ',
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dtype=np.float64).reshape((-1, 3)))
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# store the material information as (m,3) uint8 FACE COLORS
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mesh_colors.append(np.tile(colors[material_id],
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(len(mesh_faces[-1]), 1)))
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# save each mesh as the kwargs for a trimesh.Trimesh constructor
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# aka, a Trimesh object can be created with trimesh.Trimesh(**mesh)
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# this avoids needing trimesh- specific imports in this IO function
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mesh = dict()
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(mesh['vertices'],
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mesh['faces']) = util.append_faces(mesh_vertices,
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mesh_faces)
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mesh['vertex_normals'] = np.vstack(mesh_normals)
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mesh['face_colors'] = np.vstack(mesh_colors)
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# as far as I can tell, all 3DXML files are exported as
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# implicit millimeters (it isn't specified in the file)
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mesh['metadata'] = {'units': 'mm'}
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mesh['class'] = 'Trimesh'
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geometries[part_id] = mesh
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references[part_id]['geometry'] = part_id
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# a Reference3D maps to a subassembly or assembly
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for Reference3D in tree.iter('{*}Reference3D'):
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references[Reference3D.attrib['id']] = {
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'name': Reference3D.attrib['name'],
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'type': 'Reference3D'}
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# a node that is the connectivity between a geometry and the Reference3D
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for InstanceRep in tree.iter('{*}InstanceRep'):
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current = InstanceRep.attrib['id']
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instance = InstanceRep.find('{*}IsInstanceOf').text
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aggregate = InstanceRep.find('{*}IsAggregatedBy').text
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references[current].update({'aggregate': aggregate,
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'instance': instance,
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'type': 'InstanceRep'})
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# an Instance3D maps basically to a part
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for Instance3D in tree.iter('{*}Instance3D'):
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matrix = np.eye(4)
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relative = Instance3D.find('{*}RelativeMatrix')
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if relative is not None:
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relative = np.array(relative.text.split(),
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dtype=np.float64)
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# rotation component
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matrix[:3, :3] = relative[:9].reshape((3, 3)).T
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# translation component
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matrix[:3, 3] = relative[9:]
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current = Instance3D.attrib['id']
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name = Instance3D.attrib['name']
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instance = Instance3D.find('{*}IsInstanceOf').text
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aggregate = Instance3D.find('{*}IsAggregatedBy').text
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references[current].update({'aggregate': aggregate,
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'instance': instance,
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'matrix': matrix,
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'name': name,
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'type': 'Instance3D'})
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# turn references into directed graph for path finding
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graph = nx.DiGraph()
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for k, v in references.items():
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# IsAggregatedBy points up to a parent
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if 'aggregate' in v:
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graph.add_edge(v['aggregate'], k)
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# IsInstanceOf indicates a child
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if 'instance' in v:
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graph.add_edge(k, v['instance'])
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||
|
|
|
||
|
|
# the 3DXML format is stored as a directed acyclic graph that needs all
|
||
|
|
# paths from the root to a geometry to generate the tree of the scene
|
||
|
|
paths = []
|
||
|
|
for geometry_id in geometries.keys():
|
||
|
|
paths.extend(nx.all_simple_paths(graph,
|
||
|
|
source=root_id,
|
||
|
|
target=geometry_id))
|
||
|
|
|
||
|
|
# the name of the root frame
|
||
|
|
root_name = references[root_id]['name']
|
||
|
|
# create a list of kwargs to send to the scene.graph.update function
|
||
|
|
# start with a transform from the graphs base frame to our root name
|
||
|
|
|
||
|
|
graph_kwargs = [{'frame_to': root_name,
|
||
|
|
'matrix': np.eye(4)}]
|
||
|
|
|
||
|
|
# we are going to collect prettier geometry names as we traverse paths
|
||
|
|
geom_names = {}
|
||
|
|
# loop through every simple path and generate transforms tree
|
||
|
|
# note that we are flattening the transform tree here
|
||
|
|
for path_index, path in enumerate(paths):
|
||
|
|
name = ''
|
||
|
|
if 'name' in references[path[-3]]:
|
||
|
|
name = references[path[-3]]['name']
|
||
|
|
geom_names[path[-1]] = name
|
||
|
|
# we need a unique node name for our geometry instance frame
|
||
|
|
# due to the nature of the DAG names specified by the file may not
|
||
|
|
# be unique, so we add an Instance3D name then append the path ids
|
||
|
|
node_name = name + '#' + ':'.join(path)
|
||
|
|
|
||
|
|
# pull all transformations in the path
|
||
|
|
matrices = [references[i]['matrix']
|
||
|
|
for i in path if 'matrix' in references[i]]
|
||
|
|
if len(matrices) == 0:
|
||
|
|
matrix = np.eye(4)
|
||
|
|
elif len(matrices) == 1:
|
||
|
|
matrix = matrices[0]
|
||
|
|
else:
|
||
|
|
matrix = util.multi_dot(matrices)
|
||
|
|
|
||
|
|
graph_kwargs.append({'matrix': matrix,
|
||
|
|
'frame_from': root_name,
|
||
|
|
'frame_to': node_name,
|
||
|
|
'geometry': path[-1]})
|
||
|
|
|
||
|
|
# remap geometry names from id numbers to the name string
|
||
|
|
# we extracted from the 3DXML tree
|
||
|
|
geom_final = {}
|
||
|
|
for key, value in geometries.items():
|
||
|
|
if key in geom_names:
|
||
|
|
geom_final[geom_names[key]] = value
|
||
|
|
# change geometry names in graph kwargs in place
|
||
|
|
for kwarg in graph_kwargs:
|
||
|
|
if 'geometry' not in kwarg:
|
||
|
|
continue
|
||
|
|
kwarg['geometry'] = geom_names[kwarg['geometry']]
|
||
|
|
|
||
|
|
# create the kwargs for load_kwargs
|
||
|
|
result = {'class': 'Scene',
|
||
|
|
'geometry': geom_final,
|
||
|
|
'graph': graph_kwargs}
|
||
|
|
|
||
|
|
return result
|
||
|
|
|
||
|
|
|
||
|
|
def print_element(element):
|
||
|
|
"""
|
||
|
|
Pretty- print an lxml.etree element.
|
||
|
|
|
||
|
|
Parameters
|
||
|
|
------------
|
||
|
|
element : etree element
|
||
|
|
"""
|
||
|
|
pretty = etree.tostring(
|
||
|
|
element, pretty_print=True).decode('utf-8')
|
||
|
|
print(pretty)
|
||
|
|
return pretty
|
||
|
|
|
||
|
|
|
||
|
|
try:
|
||
|
|
from lxml import etree
|
||
|
|
_xml_loaders = {'xaml': load_XAML,
|
||
|
|
'3dxml': load_3DXML}
|
||
|
|
|
||
|
|
except ImportError:
|
||
|
|
_xml_loaders = {}
|