lipan
29f1d45d66
算法更新: delivery v1.2.1、平整度v1.5、测距v2.2、整车配准v1.3 适配器: vehicle-registration 新增、各算法 manifest 和 adapter 更新 后端: taskCadFiles/source 字段迁移、derivedPointClouds 注册、取消任务联动 前端: ElapsedTime 时长显示、两步算法流程、canRun 逻辑修复 文档: 新增5份算法性能分析报告
70 lines
2.6 KiB
Python
70 lines
2.6 KiB
Python
from __future__ import annotations
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from pathlib import Path
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from typing import Any
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import numpy as np
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import open3d as o3d
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import trimesh
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class IOHandler:
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"""Centralized input validation and file loading."""
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def resolve_path(self, path: str | Path) -> Path:
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return Path(path).expanduser()
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def require_file(self, path: str | Path, label: str = "file") -> Path:
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resolved = self.resolve_path(path)
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if not resolved.exists():
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raise FileNotFoundError(f"{label} not found: {resolved}")
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if not resolved.is_file():
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raise ValueError(f"{label} is not a file: {resolved}")
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return resolved
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def ensure_parent_dir(self, path: str | Path) -> Path:
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resolved = self.resolve_path(path)
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resolved.parent.mkdir(parents=True, exist_ok=True)
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return resolved
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def load_point_cloud(self, pointcloud_path: str | Path) -> o3d.geometry.PointCloud:
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path = self.require_file(pointcloud_path, "Point cloud")
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pcd = o3d.io.read_point_cloud(str(path))
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if len(pcd.points) == 0:
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raise ValueError(f"Point cloud is empty or unreadable: {path}")
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return pcd
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def load_mesh(self, mesh_path: str | Path) -> trimesh.Trimesh:
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path = self.require_file(mesh_path, "Mesh")
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mesh = trimesh.load(str(path), force="mesh")
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if mesh.is_empty:
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raise ValueError(f"Mesh is empty or unreadable: {path}")
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return mesh
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def require_cad(self, cad_path: str | Path) -> Path:
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return self.require_file(cad_path, "CAD")
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def save_point_cloud(self, pointcloud: o3d.geometry.PointCloud, output_path: str | Path) -> Path:
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path = self.ensure_parent_dir(output_path)
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ok = o3d.io.write_point_cloud(str(path), pointcloud)
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if not ok:
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raise IOError(f"Failed to save point cloud: {path}")
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return path
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def point_cloud_to_numpy(self, pointcloud: o3d.geometry.PointCloud) -> np.ndarray:
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points = np.asarray(pointcloud.points, dtype=np.float64)
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if points.size == 0:
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raise ValueError("Point cloud has no points.")
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return points
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def mesh_triangles_to_numpy(self, mesh: trimesh.Trimesh) -> tuple[np.ndarray, np.ndarray]:
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vertices = np.asarray(mesh.vertices, dtype=np.float64)
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faces = np.asarray(mesh.faces, dtype=np.int64)
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if len(vertices) == 0 or len(faces) == 0:
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raise ValueError("Mesh must contain vertices and faces.")
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return vertices, faces
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def print_mapping(self, data: dict[str, Any]) -> None:
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for key, value in data.items():
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print(f"{key}: {value}")
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