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kdl_parser
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collada_urdf: first try assimp, then fallback to STLLoader

This commit is contained in:
tfield 2010-03-05 03:05:35 +00:00
parent 6fd7f8a489
commit 1a48be8bb4
2 changed files with 36 additions and 26 deletions
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2
collada_urdf/src/STLLoader.cpp
View File

@ -101,8 +101,6 @@ void STLLoader::readBinary(FILE* filein, Mesh* mesh) {
int face_num = readLongInt(filein);
std::cout << "Reading " << face_num << " faces " << std::endl;
for (int iface = 0; iface < face_num; iface++) {
Vector3 normal(readFloat(filein), readFloat(filein), readFloat(filein));
for (int i = 0; i < 3; i++) {

38
collada_urdf/src/urdf_to_collada.cpp
View File

@ -279,7 +279,23 @@ public:
return;
}
if (true) {
// Try assimp first, then STLLoader
if (!loadMeshWithAssimp(resource, mesh))
if (!loadMeshWithSTLLoader(resource, mesh))
cerr << "*** Can't load " << filename << endl;
}
bool loadMeshWithAssimp(const resource_retriever::MemoryResource& resource, domGeometryRef mesh) {
// Import the mesh using assimp
const aiScene* scene = importer_.ReadFileFromMemory(resource.data.get(), resource.size, aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */);
if (!scene)
return false;
buildMeshFromAssimp(scene->mRootNode, mesh);
return true;
}
bool loadMeshWithSTLLoader(const resource_retriever::MemoryResource& resource, domGeometryRef mesh) {
// Write the resource to a temporary file
char tmp_filename[] = "/tmp/collada_urdf_XXXXXX";
int fd = mkstemp(tmp_filename);
@ -288,22 +304,18 @@ public:
// Import the mesh using STLLoader
STLLoader loader;
Mesh* mesh = loader.load(string(tmp_filename));
delete mesh;
Mesh* stl_mesh = loader.load(string(tmp_filename));
buildMeshFromSTLLoader(stl_mesh, mesh);
delete stl_mesh;
// Delete the temporary file
unlink(tmp_filename);
return true;
}
else {
// Import the mesh using assimp
const aiScene* scene = importer_.ReadFileFromMemory(resource.data.get(), resource.size, aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */);
if (!scene)
cerr << "Unable to import mesh " << filename << ": " << importer_.GetErrorString() << endl;
else {
cout << "Successfully loaded mesh " << filename << endl;
buildMeshFromAssimp(scene->mRootNode, mesh);
}
}
void buildMeshFromSTLLoader(Mesh* mesh, daeElementRef parent) {
//
}
void buildMeshFromAssimp(aiNode* node, daeElementRef parent) {