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iory / rcb4

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dae import error #112

Closed sugikazu75 closed 3 weeks ago

sugikazu75 commented 3 weeks ago

Some dae can not be loaded to softwares e.g. meshlab or blender. This issue is related to https://gitlab.jsk.imi.i.u-tokyo.ac.jp/modular_robot/modular_robot_model_zoo/-/issues/3 .

valid dae

meshlab $(rospack find kxr_models)/meshes/kxrmw4a6h2m/RARM_LINK6_mesh.dae meshlab $(rospack find kxr_models)/meshes/kxrl2l2a6h2m/RARM_LINK7_mesh.dae

invalid dae

meshlab $(rospack find kxr_models)/meshes/kxrmw4a6h2m/LLEG_LINK0_mesh.dae meshlab $(rospack find kxr_models)/meshes/kxrl2l2a6h2m/bodyset94472077639384_mesh.dae

sugikazu75 commented 3 weeks ago

error is below 

sugihara@sugihara-ThinkPad-T15g ~/ros/kxr/src/rcb4/ros/kxr_controller 
(/home/sugihara/ros/kxr/devel:/opt/ros/noetic) (develop/aerial_kxr) 
$ meshlab $(rospack find kxr_models)/meshes/kxrl2l2a6h2m/bodyset94472077639384_mesh.dae
Current Plugins Dir is: /usr/lib/x86_64-linux-gnu/meshlab/plugins 
Shader directory found '/usr/share/meshlab/shaders', and it contains 19 gdp files
Node 0 geom id = 'base2_M1KShape0'
Node 1 geom id = 'base2_M1KShape1'
Node 2 geom id = 'base2_M1KShape2'
Node 3 geom id = 'base2_M1KShape3'
Node 4 geom id = 'base2_M1KShape4'
Node 5 geom id = 'base2_M1KShape5'
Node 6 geom id = 'base2_M1KShape6'
Node 7 geom id = 'base2_M1KShape7'
Node 8 geom id = 'base2_M1KShape8'
Node 9 geom id = 'base2_M1KShape9'
Node 10 geom id = 'base2_M1KShape10'
Node 11 geom id = 'base2_M1KShape11'
Node 12 geom id = 'base2_M1KShape12'
Node 13 geom id = 'base2_M1KShape13'
Node 14 geom id = 'base2_M1KShape14'
Node 15 geom id = 'base2_M1KShape15'
Node 16 geom id = 'base2_M1KShape16'
Node 17 geom id = 'base2_M1KShape17'
Node 18 geom id = 'base2_M1KShape18'
Node 19 geom id = 'base2_M1KShape19'
Node 20 geom id = 'base2_M1KShape20'
Node 21 geom id = 'base2_M1KShape21'
Node 22 geom id = 'base2_M1KShape22'
Node 23 geom id = 'base2_M1KShape23'
Node 24 geom id = 'base2_M1KShape24'
Node 25 geom id = 'base2_M1KShape25'
Node 26 geom id = 'base2_M1KShape26'
Node 27 geom id = 'base2_M1KShape27'
Time elapsed: 15 ms
----- Starting the processing of bodyset94472077639384_mesh.dae ------
File Contains 1 Scenes
Scene 0 contains 1 instance_visual_scene 
instance_visual_scene 0 refers VisualSceneNode 
instance_visual_scene VisualSceneNode has 1 children
Processing Visual Scene child 0 - of type 'node'
Starting processing <node> with id bodyset94472077639384
getTrans form node with tag node
** instance_geometry with url #base2_M1KShape0 (intial mesh size 0 0 T = 0)
**    instance_geometry has a material binding
++++ Found 1 instance_material binding
++++++ lambert2SG -> #blinn20
**** Loading a Geometry Mesh **** (initial mesh size 0 0)
Warning valueStringList returned and emtpy list. nothing inside element with tag 'vcount'
****** LoadTriangularMesh (initial mesh size 336 0)
******    material id 'lambert2SG' -> '#blinn20'
====== searching among library_effects the effect with id 'blinn2-fx0' 
******   but we were not able to find the corresponding image node
****** LoadTriangularMesh (final  mesh size 336 336 - 112 112)
**** Loading a Geometry Mesh **** (final   mesh size 336 336 - 112 112)
** instance_geometry with url #base2_M1KShape0 (final mesh size 336 336 - 112 112)
** instance_geometry with url #base2_M1KShape1 (intial mesh size 336 112 T = 0)
**    instance_geometry has a material binding
++++ Found 1 instance_material binding
++++++ lambert2SG -> #blinn21
**** Loading a Geometry Mesh **** (initial mesh size 0 0)
Warning valueStringList returned and emtpy list. nothing inside element with tag 'vcount'
****** LoadTriangularMesh (initial mesh size 336 0)
******    material id 'lambert2SG' -> '#blinn21'
====== searching among library_effects the effect with id 'blinn2-fx1' 
******   but we were not able to find the corresponding image node
meshlab: ./vcglib/wrap/io_trimesh/import_dae.h:418: static vcg::tri::io::UtilDAE::DAEError vcg::tri::io::ImporterDAE<OpenMeshType>::LoadTriangularMesh(QDomNodeList&, vcg::tri::io::ImporterDAE<OpenMeshType>::ColladaMesh&, size_t, vcg::tri::io::InfoDAE&, QMap<QString, QString>&) [with OpenMeshType = CMeshO; size_t = long unsigned int]: Assertion `indvt + offset < m.vert.size()' failed.
Aborted (core dumped)
iory commented 3 weeks ago

Thanks for your issue!

This model was created from EusLisp, so the export format may be incorrect. By the way, it was readable in Blender 4.0. Importing it into Blender and then exporting it again might make the DAE file readable.

image

sugikazu75 commented 3 weeks ago

Thank you for your help! I could import to blender. I'm closing this issue because I've solved my problem.