| """ |
| Use CoACD to obtain convex collision mesh from an input mesh. |
| """ |
|
|
| |
| try: |
| import trimesh |
| except ModuleNotFoundError: |
| print("trimesh is required. Please install with `pip install trimesh`") |
| exit(1) |
|
|
|
|
| import argparse |
| import os |
| import sys |
|
|
| import coacd |
| import numpy as np |
|
|
| if __name__ == "__main__": |
| parser = argparse.ArgumentParser() |
| parser.add_argument( |
| "-i", |
| "--input", |
| type=str, |
| required=True, |
| help="input model loaded by trimesh. Supported formats: glb, gltf, obj, off, ply, stl, etc.", |
| ) |
| parser.add_argument( |
| "-o", |
| "--output", |
| type=str, |
| required=True, |
| help="output model exported by trimesh. Supported formats: glb, gltf, obj, off, ply, stl, etc.", |
| ) |
| parser.add_argument("--quiet", action="store_true", help="do not print logs") |
| parser.add_argument( |
| "-t", |
| "--threshold", |
| type=float, |
| default=0.05, |
| help="termination criteria in [0.01, 1] (0.01: most fine-grained; 1: most coarse)", |
| ) |
| parser.add_argument( |
| "-pm", |
| "--preprocess-mode", |
| type=str, |
| default="auto", |
| help="No remeshing before running CoACD. Only suitable for manifold input.", |
| ) |
| parser.add_argument( |
| "-r", |
| "--resolution", |
| type=int, |
| default=2000, |
| help="surface samping resolution for Hausdorff distance computation", |
| ) |
| parser.add_argument( |
| "-nm", |
| "--no-merge", |
| action="store_true", |
| help="If merge is enabled, try to reduce total number of parts by merging.", |
| ) |
| parser.add_argument( |
| "-c", |
| "--max-convex-hull", |
| type=int, |
| default=-1, |
| help="max # convex hulls in the result, -1 for no limit, works only when merge is enabled", |
| ) |
| parser.add_argument( |
| "-mi", |
| "--mcts_iteration", |
| type=int, |
| default=150, |
| help="Number of MCTS iterations.", |
| ) |
| parser.add_argument( |
| "-md", |
| "--mcts-max-depth", |
| type=int, |
| default=3, |
| help="Maximum depth for MCTS search.", |
| ) |
| parser.add_argument( |
| "-mn", |
| "--mcts-node", |
| type=int, |
| default=20, |
| help="Number of cut candidates for MCTS.", |
| ) |
| parser.add_argument( |
| "-pr", |
| "--prep-resolution", |
| type=int, |
| default=50, |
| help="Preprocessing resolution.", |
| ) |
| parser.add_argument( |
| "--pca", |
| action="store_true", |
| help="Use PCA to align input mesh. Suitable for non-axis-aligned mesh.", |
| ) |
| parser.add_argument("--seed", type=int, default=0, help="Random seed.") |
|
|
| args = parser.parse_args() |
|
|
| input_file = args.input |
| output_file = args.output |
|
|
| if not os.path.isfile(input_file): |
| print(input_file, "is not a file") |
| exit(1) |
|
|
| if args.quiet: |
| coacd.set_log_level("error") |
|
|
| mesh = trimesh.load(input_file, force="mesh") |
| mesh = coacd.Mesh(mesh.vertices, mesh.faces) |
| result = coacd.run_coacd( |
| mesh, |
| threshold=args.threshold, |
| max_convex_hull=args.max_convex_hull, |
| preprocess_mode=args.preprocess_mode, |
| preprocess_resolution=args.prep_resolution, |
| resolution=args.resolution, |
| mcts_nodes=args.mcts_node, |
| mcts_iterations=args.mcts_iteration, |
| mcts_max_depth=args.mcts_max_depth, |
| pca=args.pca, |
| merge=not args.no_merge, |
| seed=args.seed, |
| ) |
| mesh_parts = [] |
| for vs, fs in result: |
| mesh_parts.append(trimesh.Trimesh(vs, fs)) |
| scene = trimesh.Scene() |
| np.random.seed(0) |
| for p in mesh_parts: |
| p.visual.vertex_colors[:, :3] = (np.random.rand(3) * 255).astype(np.uint8) |
| scene.add_geometry(p) |
| scene.export(output_file) |
|
|
