success

data_generation/tools/convert_dataset.py

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+import argparse
+import asyncio
+import os
+
+import omni
+from omni.isaac.kit import SimulationApp
+
+
+async def convert(in_file, out_file, load_materials=True):
+    # This import causes conflicts when global
+    import omni.kit.asset_converter
+
+    def progress_callback(progress, total_steps):
+        pass
+
+    converter_context = omni.kit.asset_converter.AssetConverterContext()
+    # setup converter and flags
+    converter_context.ignore_materials = not load_materials
+    # converter_context.ignore_animation = False
+    # converter_context.ignore_cameras = True
+    # converter_context.single_mesh = True
+    # converter_context.smooth_normals = True
+    # converter_context.preview_surface = False
+    # converter_context.support_point_instancer = False
+    # converter_context.embed_mdl_in_usd = False
+    # converter_context.use_meter_as_world_unit = True
+    # converter_context.create_world_as_default_root_prim = False
+    instance = omni.kit.asset_converter.get_instance()
+    task = instance.create_converter_task(in_file, out_file, progress_callback, converter_context)
+    success = True
+    while True:
+        success = await task.wait_until_finished()
+        if not success:
+            await asyncio.sleep(0.1)
+        else:
+            break
+    return success
+
+
+def asset_convert(folders):
+    supported_file_formats = ["stl", "obj", "fbx"]
+    for folder in folders:
+        local_asset_output = folder + "_converted"
+        result = omni.client.create_folder(f"{local_asset_output}")
+
+    for folder in folders:
+        print(f"\nConverting folder {folder}...")
+
+        (result, models) = omni.client.list(folder)
+        for i, entry in enumerate(models):
+            model = str(entry.relative_path)
+            model_name = os.path.splitext(model)[0]
+            model_format = (os.path.splitext(model)[1])[1:]
+            # Supported input file formats
+            if model_format in supported_file_formats:
+                input_model_path = folder + "/" + model
+                converted_model_path = folder + "_converted/" + model_name + "_" + model_format + ".usd"
+                if not os.path.exists(converted_model_path):
+                    status = asyncio.get_event_loop().run_until_complete(
+                        convert(input_model_path, converted_model_path, True)
+                    )
+                    if not status:
+                        print(f"ERROR Status is {status}")
+                    print(f"---Added {converted_model_path}")
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description='Process some integers.')
+    parser.add_argument('dataset_path', type=str, help='path to the dataset')
+    args = parser.parse_args()
+
+    folders = []
+    for root, dirs, files in os.walk(args.dataset_path, topdown=False):
+        for name in dirs:
+            path = os.path.join(root, name)
+            if(os.path.join(root, name)[-4:] == "Scan"):
+                folders.append(path)
+
+    kit = SimulationApp()
+    from omni.isaac.core.utils.extensions import enable_extension
+    enable_extension("omni.kit.asset_converter")
+    asset_convert(folders)
+    kit.close()