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import os
import numpy as np
def checkEncoding(filepath):
filepath = filepath
with open(filepath, "rb") as encode_check:
encoding = encode_check.readline(3)
if encoding == b"\xfe\xff\x00":
return "utf_16_be"
elif encoding == b"\xff\xfe0":
return "utf_16_le"
else:
return "utf_8"
def readTextFile(filepath):
filepath = filepath
lines = None
if os.path.exists(filepath):
file_encoding = checkEncoding(filepath)
try:
with open(filepath, "rt", encoding=file_encoding) as f_in:
lines = f_in.readlines()
except:
with open(filepath, "rt", encoding="latin_1") as f_in:
lines = f_in.readlines()
return lines
def apply_rotation(x, y, z, rot_mat):
# 旋转矩阵乘法: [x', y', z'] = [x, y, z] * rot_mat
new_x = rot_mat[0][0] * x + rot_mat[0][1] * y + rot_mat[0][2] * z
new_y = rot_mat[1][0] * x + rot_mat[1][1] * y + rot_mat[1][2] * z
new_z = rot_mat[2][0] * x + rot_mat[2][1] * y + rot_mat[2][2] * z
return new_x, new_y, new_z
def apply_rotation_matrix(orig_mat, rot_mat):
# numpy 矩阵乘法
orig_mat_np = np.array(orig_mat).reshape((3,3))
rot_mat_np = np.array(rot_mat)
new_mat = rot_mat_np @ orig_mat_np
return new_mat.flatten().tolist()
def getModulePart(start_line, end_line, lines, main_section, rot_mat):
for j in range(start_line, end_line):
line = lines[j]
if line.startswith("1 "):
parts = line.strip().split()
if len(parts) >= 12: # x,y,z + 9 个矩阵元素
try:
# 获取原坐标
x = float(parts[2])
y = float(parts[3])
z = float(parts[4])
# 使用旋转矩阵进行坐标变换
x_rot, y_rot, z_rot = apply_rotation(x, y, z, rot_mat)
# 更新坐标
parts[2] = str(x_rot)
parts[3] = str(y_rot)
parts[4] = str(z_rot)
# 获取原旋转矩阵
orig_mat = [float(p) for p in parts[5:14]]
# 旋转零件自身旋转矩阵
new_mat = apply_rotation_matrix(orig_mat, rot_mat)
# 更新矩阵
for idx, val in enumerate(new_mat):
parts[5 + idx] = str(val)
# 重新拼接并更新行
line = " ".join(parts) + "\n"
except ValueError as e:
print(e)
pass
main_section.append(line)
def process_ldr(filepath, output_file, rot_mat):
if os.path.isfile(filepath):
lines = readTextFile(filepath)
if lines is None:
print("Could not read file {0}".format(filepath))
lines = []
else:
lines = []
main_section = []
startLine = 0
endLine = 0
lineCount = 0
foundEnd = False
for line in lines:
parameters = line.strip().split()
if len(parameters) > 2:
if parameters[0] == "0" and parameters[1] == "FILE":
if foundEnd == False:
endLine = lineCount
if endLine > startLine:
getModulePart(startLine, endLine, lines, main_section, rot_mat)
foundEnd = True
break
startLine = lineCount
foundEnd = False
if parameters[0] == "0" and parameters[1] == "NOFILE":
endLine = lineCount
foundEnd = True
getModulePart(startLine, endLine, lines, main_section, rot_mat)
break
lineCount += 1
if lineCount < len(lines):
remaining = lines[lineCount:]
else:
remaining = []
if foundEnd == False:
endLine = lineCount
if endLine > startLine:
getModulePart(startLine, endLine, lines, main_section, rot_mat)
new_section = main_section + remaining
with open(output_file, "w", encoding="utf-8") as f:
f.writelines(new_section)
return True
# 旋转矩阵：绕 Y 轴旋转 90 度
rot_mat = [
[0, 0, 1],
[0, 1, 0],
[-1, 0, 0]
]
# # 调用函数处理 LDR 文件，进行旋转
# def main():
# process_ldr("/public/home/wangshuo/gap/assembly/data/car_1k/ldr/car_5/car_5.ldr", "car_5_rotate.ldr", rot_mat)
# main() |