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import os
import numpy as np
def parse_matrix_and_pos(tokens):
"""解析 1 行中的 位置和矩阵"""
color = tokens[1]
pos = np.array([float(tokens[2]), float(tokens[3]), float(tokens[4])])
mat = np.array([
[float(tokens[5]), float(tokens[6]), float(tokens[7])],
[float(tokens[8]), float(tokens[9]), float(tokens[10])],
[float(tokens[11]), float(tokens[12]), float(tokens[13])]
])
filename = " ".join(tokens[14:]).upper()
return color, pos, mat, filename
def apply_transform(pos_parent, mat_parent, pos_child, mat_child):
"""位置相加 & 矩阵相乘"""
new_pos = pos_parent + mat_parent.dot(pos_child)
new_mat = mat_parent.dot(mat_child)
return new_pos, new_mat
def expand_submodel(line, submodels):
"""展开一个子模型引用"""
tokens = line.strip().split()
color, pos, mat, filename = parse_matrix_and_pos(tokens)
if filename.lower().endswith(".dat"): # 普通零件，不展开
return [line]
if filename not in submodels:
print(f"⚠️ 未找到子模型定义: {filename}")
return []
expanded_lines = []
for subline in submodels[filename]:
if not subline.strip().startswith("1 "): # 保留注释等
expanded_lines.append(subline)
continue
stokens = subline.strip().split()
scolor, spos, smat, sfile = parse_matrix_and_pos(stokens)
new_pos, new_mat = apply_transform(pos, mat, spos, smat)
new_line = "1 {} {:.3f} {:.3f} {:.3f} {:.6f} {:.6f} {:.6f} {:.6f} {:.6f} {:.6f} {:.6f} {:.6f} {:.6f} {}".format(
scolor,
new_pos[0], new_pos[1], new_pos[2],
new_mat[0,0], new_mat[0,1], new_mat[0,2],
new_mat[1,0], new_mat[1,1], new_mat[1,2],
new_mat[2,0], new_mat[2,1], new_mat[2,2],
sfile
)
expanded_lines.append(new_line)
return expanded_lines
def expand_all(main_lines, submodels):
"""不断展开 main_lines，直到所有 1 行的子模型引用都是以 .dat 结尾"""
changed = True
while changed:
changed = False
new_lines = []
for line in main_lines:
if line.strip().startswith("1 "):
tokens = line.strip().split()
filename = " ".join(tokens[14:]).upper()
if not filename.lower().endswith(".dat"):
if filename in submodels:
expanded = expand_submodel(line, submodels)
new_lines.extend(expanded)
changed = True
continue
new_lines.append(line.strip())
main_lines = new_lines
return main_lines
def process_ldr(input_file, output_file):
with open(input_file, "r", encoding="utf-8") as f:
lines = f.readlines()
# 找第一个 NOFILE
nofile_idx = None
for i, line in enumerate(lines):
if line.strip().upper().startswith("0 NOFILE"):
nofile_idx = i
break
# 如果没有找到 0 NOFILE，说明没有子模型，直接保存文件
if nofile_idx is None:
print(f"⚠️ {input_file} 未找到 0 NOFILE，文件没有子模型，直接保存")
with open(output_file, "w", encoding="utf-8") as f:
f.writelines(lines) # 直接保存原始文件
return
main_lines = lines[:nofile_idx]
sub_lines = lines[nofile_idx+1:]
# 收集子模型定义
submodels = {}
cur_name = None
cur_buf = []
for line in sub_lines:
if line.strip().upper().startswith("0 FILE"):
if cur_name and cur_buf:
submodels[cur_name.upper()] = cur_buf
cur_name = line.strip().split(maxsplit=2)[-1].upper()
cur_buf = []
elif line.strip().upper().startswith("0 NOFILE"):
if cur_name and cur_buf:
submodels[cur_name.upper()] = cur_buf
cur_name = None
cur_buf = []
else:
if cur_name is not None:
cur_buf.append(line.strip())
if cur_name and cur_buf:
submodels[cur_name.upper()] = cur_buf
# 处理主文件，递归展开
output_lines = expand_all(main_lines, submodels)
os.makedirs(os.path.dirname(output_file), exist_ok=True)
with open(output_file, "w", encoding="utf-8") as f:
for l in output_lines:
f.write(l + "\n")
#print(f"✅ 已展开并保存到 {output_file}")
import shutil
def process_all_ldr(input_root, output_root):
"""遍历 input_root 下所有 .ldr 文件，并保存到 output_root 下相同路径，同时复制同名 txt 和 jpeg 文件"""
for dirpath, _, filenames in os.walk(input_root):
for filename in filenames:
if filename.lower().endswith(".ldr"):
in_file = os.path.join(dirpath, filename)
rel_path = os.path.relpath(in_file, input_root)
out_file = os.path.join(output_root, rel_path)
# 处理 ldr 文件
process_ldr(in_file, out_file)
# 基础文件名，不含扩展名
base_name = os.path.splitext(filename)[0]
if __name__ == "__main__":
input_root = "/public/home/wangshuo/gap/assembly/data/car_1k/subset_bottom_300/ldr_rot_test"
output_root = "/public/home/wangshuo/gap/assembly/data/car_1k/subset_bottom_300/ldr_rot_expand_test"
process_all_ldr(input_root, output_root)
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