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collada_urdf: use resource_retriever to load meshes

This commit is contained in:
tfield 2010-03-05 00:08:01 +00:00
parent 6d5894e0f7
commit 4be755043d
1 changed files with 38 additions and 15 deletions
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53
collada_urdf/src/urdf_to_collada.cpp
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@ -34,23 +34,25 @@
/* Author: Tim Field */ /* Author: Tim Field */
#include "dae.h" #include <dae.h>
#include "dae/daeErrorHandler.h" #include <dae/daeErrorHandler.h>
#include "dom/domCOLLADA.h" #include <dom/domCOLLADA.h>
#include "dae/domAny.h" #include <dae/domAny.h>
#include "dom/domConstants.h" #include <dom/domConstants.h>
#include "dom/domTriangles.h" #include <dom/domTriangles.h>
#include "dae/daeDocument.h" #include <dae/daeDocument.h>
#include "dom/domTypes.h" #include <dom/domTypes.h>
#include "dom/domElements.h" #include <dom/domElements.h>
#include "assimp/assimp.hpp" #include <assimp/assimp.hpp>
#include "assimp/aiScene.h" #include <assimp/aiScene.h>
#include "assimp/aiPostProcess.h" #include <assimp/aiPostProcess.h>
#include "urdf/model.h" #include <resource_retriever/retriever.h>
#include "urdf/pose.h"
#include <urdf/model.h>
#include <urdf/pose.h>
using namespace std; using namespace std;
@ -257,11 +259,32 @@ public:
} }
void loadMesh(const string& filename, domGeometryRef mesh) { void loadMesh(const string& filename, domGeometryRef mesh) {
const aiScene* scene = importer_.ReadFile(filename.c_str(), aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */); // Load the mesh
resource_retriever::MemoryResource resource;
resource_retriever::Retriever retriever;
try {
resource = retriever.get(filename.c_str());
}
catch (resource_retriever::Exception& e) {
cerr << "Unable to load mesh file " << filename << ": " << e.what() << endl;
return;
}
// Write the mesh to a temporary file
char tmp_filename[] = "/tmp/collada_urdf_mesh_XXXXXX";
int mesh_fd = mkstemp(tmp_filename);
write(mesh_fd, resource.data, resource.size);
close(mesh_fd);
// Import the mesh using assimp
const aiScene* scene = importer_.ReadFile(tmp_filename.c_str(), aiProcess_SortByPType /* aiProcess_CalcTangentSpace | aiProcess_Triangulate | aiProcess_JoinIdenticalVertices */);
if (!scene) if (!scene)
cerr << "Unable to import mesh " << filename << ": " << importer_.GetErrorString() << endl; cerr << "Unable to import mesh " << filename << ": " << importer_.GetErrorString() << endl;
else else
buildMesh(scene->mRootNode, mesh); buildMesh(scene->mRootNode, mesh);
// Delete the temporary file
unlink(tmp_filename);
} }
void buildMesh(aiNode* node, daeElementRef parent) { void buildMesh(aiNode* node, daeElementRef parent) {