【Meshlab生成物体模型导入WEBOTS仿真环境详细】

最新推荐文章于 2024-04-13 09:45:36 发布

weixin_39599131

最新推荐文章于 2024-04-13 09:45:36 发布

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本文链接：https://blog.csdn.net/weixin_39599131/article/details/134853405

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Meshlab生成webots物体包络体bounding box

导入物体visual模型

首先将之前生成的物体外观模型导入到一个文件夹中，包含obj、mtl、jpg文件，分别对应几何描述、材料纹理描述、图片纹理素材

扫描仪扫描的物体单位是mm，需要将单位变成m，并且将扫描的物体几何中心放置在坐标原点，运行以下代码脚本进行处理即可，生成处理之后的目标模型文件output.obj

python scale_obj.py

# scale_obj.py
import numpy as np

# Read in the vertex coordinates from the OBJ file
vertices = []
with open('cleansing_foam/cleansing_foam.obj', 'r') as f:
    for line in f:
        if line.startswith('v '):
            parts = line.split()
            x = float(parts[1]) / 1000.0
            y = float(parts[2]) / 1000.0
            z = float(parts[3]) / 1000.0
            vertices.append([x, y, z])

# Compute the geometric center of the vertices
center = np.mean(vertices, axis=0)

# Shift all vertices so that the geometric center is at the origin
vertices = [v - center for v in vertices]

# Write out the modified OBJ file with shifted vertices
with open('cleansing_foam/output.obj', 'w') as f:
    with open('cleansing_foam/cleansing_foam.obj', 'r') as f_in:
        for line in f_in:
            if line.startswith('v '):
                parts = line.split()
                x, y, z = vertices.pop(0)
                f.write('v {} {} {}\n'.format(x, y, z))
            else:
                f.write(line)