Re: Loading mesh with vertex colors

2022-03-22T21:07:48+00:00

Ok found a way to bypass this. It's true that pybullet currently can't represent meshes with vertex colors, so I had to automatically generate a UV map and transfer vertex colors to a texture on the UV map. I was able to do this using MeshLab (pymeshlab) with the following (I actually have the vertices and faces as arrays, but if you just have the obj file you can load the mesh instead):

Code:

                m = pymeshlab.Mesh(verts_xyz, faces, v_color_matrix=colrs)                ms = pymeshlab.MeshSet()                ms.add_mesh(m, "level_set")                # UV map and turn vertex coloring into a texture                base_name = f"{datetime.now().strftime('%Y_%m_%d_%H_%M_%S')}_{t}"                ms.compute_texcoord_parametrization_triangle_trivial_per_wedge()                ms.compute_texmap_from_color(textname=f"tex_{base_name}")                ms.save_current_mesh(fn)                visId = p.createVisualShape(p.GEOM_MESH, fileName=fn)                meshId = p.createMultiBody(0, baseVisualShapeIndex=visId, basePosition=[0, 0, 0])

Statistics: Posted by zhsh — Tue Mar 22, 2022 9:07 pm

(Solved) Loading mesh with vertex colors

2022-03-22T21:48:53+00:00

I'm trying to load a mesh created in open3d saved in the usual `.obj` format with vertex information into pybullet. The mesh vertices load fine, but don't have any color (resulting mesh in pybullet looks the same regardless if when saving write_vertex_colors=False or not).

I am loading the mesh in pybullet via

Code:

                visId = p.createVisualShape(p.GEOM_MESH, fileName=fn)                meshId = p.createMultiBody(0, baseVisualShapeIndex=visId, basePosition=[0, 0, 0])

First few lines of the saved mesh:

Code:

# Created by Open3D # object name: test_mesh_2022_03_15_19_28_06_50# number of vertices: 4700# number of triangles: 9424v -0.055 0.0346259 0.36 0.120638 0.625828 0.533488v -0.055 0.035 0.358984 0.119699 0.61849 0.536347v -0.0552418 0.035 0.36 0.120081 0.622161 0.534946v -0.0564281 0.035 0.37 0.132268 0.655014 0.519661v 0.095 0.065 0.311799 0.276022 0.044167 0.370164v 0.095 0.0663959 0.22 0.252194 0.269783 0.531579

Does pybullet not support colored vertex obj convention (http://paulbourke.net/dataformats/obj/colour.html)?
Is there a way to get colored meshes working (converting to texture somehow and applying texture)?

Statistics: Posted by zhsh — Tue Mar 15, 2022 11:59 pm

Real-Time Physics Simulation Forum

Re: Loading mesh with vertex colors

(Solved) Loading mesh with vertex colors