bb87928bce
Upstream: https://github.com/Rhoban/onshape-to-robot Upstream-Commit: 80e710700aac9573a2230f74f7ce9e094833a0bc Upstream-Branch: master
90 lines
2.9 KiB
Python
90 lines
2.9 KiB
Python
import os
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from .config import Config
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from .robot import Robot
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from .processor import Processor
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from .message import bright, info, error
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class ProcessorSimplifySTLs(Processor):
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"""
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Allow for mesh simplifications using MeshLab
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"""
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def __init__(self, config: Config):
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super().__init__(config)
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# STL merge / simplification
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self.simplify_stls = config.get("simplify_stls", False)
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self.max_stl_size = config.get("max_stl_size", 3)
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if self.simplify_stls:
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self.pymeshlab = self.check_meshlab()
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def check_meshlab(self):
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print(bright("* Checking pymeshlab presence..."))
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try:
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import pymeshlab
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return pymeshlab
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except ImportError:
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self.simplify_stls = False
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print(error("No pymeshlab, disabling STL simplification support"))
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print(info("TIP: consider installing pymeshlab:"))
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print(info("pip install pymeshlab"))
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def process(self, robot: Robot):
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if self.simplify_stls:
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simplify_all = (
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self.simplify_stls != "visual" and self.simplify_stls != "collision"
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)
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simplified = set()
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getcwd = os.getcwd()
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# Changing directory to output to have relative paths working
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os.chdir(self.config.output_directory)
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for link in robot.links:
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for part in link.parts:
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for mesh in part.meshes:
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if (
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simplify_all or mesh.is_type(self.simplify_stls)
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) and mesh.filename not in simplified:
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simplified.add(mesh.filename)
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self.simplify_stl(mesh.filename)
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os.chdir(getcwd)
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def reduce_faces(self, filename: str, reduction: float = 0.9):
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mesh_set = self.pymeshlab.MeshSet()
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# Add input mesh
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mesh_set.load_new_mesh(filename)
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# Apply filter
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mesh_set.apply_filter(
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"meshing_decimation_quadric_edge_collapse",
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targetperc=reduction,
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qualitythr=0.5,
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preserveboundary=False,
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boundaryweight=1,
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preservenormal=True,
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preservetopology=False,
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optimalplacement=True,
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planarquadric=True,
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qualityweight=False,
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planarweight=0.001,
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autoclean=True,
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selected=False,
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)
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# Save mesh
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mesh_set.save_current_mesh(filename)
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def simplify_stl(self, filename: str):
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size_M = os.path.getsize(filename) / (1024 * 1024)
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if size_M > self.max_stl_size:
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print(
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info(
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f"+ {os.path.basename(filename)} is {size_M:.2f} M, running mesh simplification"
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)
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)
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self.reduce_faces(filename, self.max_stl_size / size_M)
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