handle DAE files (#30)

Author: mhubii

env.yaml

@@ -20,6 +20,7 @@ dependencies:
       - numpy
       - ninja # nvdiffast build
       - opencv-python
+      - pycollada # used for visual meshes
       - pyvista
       - pytorch-kinematics
       - rich

pyproject.toml

@@ -14,6 +14,7 @@ requires-python = ">=3.10"
 dependencies = [
   "faiss-gpu",
   "huggingface_hub",
+  "pycollada",
   "pytest",
   "pytorch-kinematics",
   "pyvista",

roboreg/differentiable/structs.py

@@ -73,6 +73,9 @@ def _populate_meshes(
             # load mesh
             m = self._load_mesh(mesh_path)
 
+            if isinstance(m, trimesh.Scene):
+                m = m.dump(concatenate=True)
+
             # populate mesh vertex count
             self._per_mesh_vertex_count[mesh_name] = len(m.vertices)
 

test/differentiable/test_structs.py

@@ -11,6 +11,7 @@
 
 
 def test_torch_mesh_container() -> None:
+    # test load simple meshes
     torch_robot_mesh = TorchMeshContainer(
         mesh_paths={
             "link_0": "test/data/lbr_med7/mesh/link_0.stl",
@@ -23,6 +24,19 @@ def test_torch_mesh_container() -> None:
     print(torch_robot_mesh.lower_face_index_lookup)
     print(torch_robot_mesh.upper_face_index_lookup)
 
+    # test load visual meshes
+    torch_robot_mesh = TorchMeshContainer(
+        mesh_paths={
+            "link_0": "test/data/lbr_med7/mesh/link_0.dae",
+            "link_1": "test/data/lbr_med7/mesh/link_1.dae",
+        }
+    )
+    print(torch_robot_mesh.per_mesh_vertex_count)
+    print(torch_robot_mesh.lower_vertex_index_lookup)
+    print(torch_robot_mesh.upper_vertex_index_lookup)
+    print(torch_robot_mesh.lower_face_index_lookup)
+    print(torch_robot_mesh.upper_face_index_lookup)
+
 
 def test_batched_camera() -> None:
     device = "cuda" if torch.cuda.is_available() else "cpu"
@@ -137,6 +151,6 @@ def test_batched_virtual_camera() -> None:
 
 
 if __name__ == "__main__":
-    # test_torch_mesh_container()
-    test_batched_camera()
+    test_torch_mesh_container()
+    # test_batched_camera()
     # test_batched_virtual_camera()