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1 # Rotate ply file to normalized position
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2 # based at points on symmetry axis
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3 # MB
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4
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5 import math
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6 from math import *
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7 import sys
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8 import numpy
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9
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10 # Main function
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11 def main():
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12 # input user .ply file
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13 name_file_ply = sys.argv[1]
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14 # input user symmetry points file
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15 sym_points_file = sys.argv[2]
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16
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17 # to function 'extracting header', return header features
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18 var_header,var_vertex_nm,var_face_nm, var_col = extracting_header(name_file_ply)
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19
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20 # to function 'extracting symmetry points', return symmetry points and list with new vertex
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21 listsym,listtotal_vertex = extracting_symmetry_points(sym_points_file)
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22
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23 # to function 'extracting coordiantes', return list vertex and colors
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24 listtotal_vertex, listtotal_colors = extracting_coordinates(name_file_ply,
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25 var_header,var_vertex_nm,var_face_nm,
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26 listtotal_vertex, var_col)
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27 # to function 'shift to zero'
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28 shift_to_zero(listsym,listtotal_vertex)
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29
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30 # to function 'write ply file'
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31 write_ply_file(name_file_ply, var_header,var_vertex_nm,var_face_nm,
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32 listtotal_colors, listtotal_vertex)
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33
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34
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35 # Function to extract all the values of the header of the ply file
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36 def extracting_header(name_file_ply):
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37 file_ply = open(name_file_ply) # open ply file
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38 var_col = 0 # color variable
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39 count = 0 # counter
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40
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41 # for the first lines of the ply file
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42 for line in range(0, 40):
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43 readheader = file_ply.readline().strip().split()
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44 if len(readheader) != 0:
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45 if readheader[0] == 'end_header':
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46 var_header = count
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47
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48 # If there are colors in the ply file
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49 if 'red' in readheader:
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50 var_col += 1
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51 if 'blue' in readheader:
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52 var_col += 1
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53 if 'green' in readheader:
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54 var_col += 1
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55
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56 # extracting number of vertexen
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57 if readheader[0] == "element" and readheader[1] == "vertex":
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58 var_vertex_nm = readheader[2]
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59
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60 # extracting number of faces
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61 if readheader[0] == "element" and readheader[1] == "face":
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62 var_face_nm = readheader[2]
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63 count += 1
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64 else:
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65 continue
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66
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67 file_ply.close() # closing ply file
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68 return var_header, var_vertex_nm,var_face_nm, var_col # return values to main
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69
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70 # Function for extracting the values of the symmetry points file
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71 def extracting_symmetry_points(sym_points_file):
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72 sympoints = open(sym_points_file) # open symmetry file
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73 symlines = sympoints.readlines() # read all the lines of file
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74 listsym = [] # symmetry points
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75 listtotal_vertex = [] # vertexen
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76 # every line in the sym file
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77 for sym in range(0,len(symlines)):
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78 symline_1 = symlines[sym].strip().split()
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79 listsym.append(symlines[sym].strip().split()) #add symmetry points
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80 listtotal_vertex.append(symlines[sym].strip().split()) # add symmetry points
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81
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82 sympoints.close() # close symmetry file
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83 return listsym,listtotal_vertex # return symmetry points list and vertex list
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84
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85
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86 # Function to extract the coordinates of the ply file
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87 def extracting_coordinates(name_file_ply, var_header,var_vertex_nm,var_face_nm, listtotal_vertex, var_col):
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88 file1 = open(name_file_ply) # open ply file
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89
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90 sub_list = [] #sublist coordinates
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91 listtotal_colors = [] # color list
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92 sub_colors = [] # sublist color
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93
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94 # coordinates of ply file to list
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95 for coordinates_ln in range(0, (int(var_header) + int(var_vertex_nm) + int(var_face_nm) + 1)):
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96 line = file1.readline().strip().split()
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97 if (int(var_header) < coordinates_ln < (int(var_vertex_nm)+ int(var_header)+1)):
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98 rayx = sub_list.append(line[0])
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99 rayy = sub_list.append(line[1])
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100 rayz = sub_list.append(line[2])
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101 listtotal_vertex.append(sub_list) #x y z coordinates to list
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102 sub_list = []
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103 if var_col != 0: #if color code is not 0
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104 color_x = sub_colors.append(line[3])
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105 color_y = sub_colors.append(line[4])
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106 color_z = sub_colors.append(line[5])
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107 listtotal_colors.append(sub_colors) #colors to list
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108 sub_colors = []
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109
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110 return listtotal_vertex, listtotal_colors # return coordinates (vertexen) and color lists
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111
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112
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113 # Function to calculate the values in the Z rotation matrix
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114 def Rz_matrix(z_angle): # Rz rotation matrix
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115 return [[cos(math.radians(z_angle)), -sin(math.radians(z_angle)), 0.0],[sin(math.radians(z_angle)),cos(math.radians(z_angle)),0.0],[0.0, 0.0, 1.0]]
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116
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117 # Function to calculate the new coordinates rotated with Z rotation matrix
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118 def Z_rotation(point2, z_angle): # multiplication rotation matrix and coordinates
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119 r_z = Rz_matrix(z_angle)
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120 rotated_z = []
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121 for i in range(3):
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122 rotated_z.append((sum([r_z[i][j] * point2[j] for j in range(3)])))
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123 return rotated_z
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124
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125 # Function to calculate the values in the X rotation matrix
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126 def Rx_matrix(x_angle): #rotation matrix x-axis
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127 return [[1, 0, 0],[0,cos(math.radians(x_angle)),-sin(math.radians(x_angle))],[0,sin(math.radians(x_angle)),cos(math.radians(x_angle))]]
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128
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129 # Function to calculate the new coordinates rotated with X rotation matrix
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130 def X_rotation(point3, x_angle): #multiplication rotation matrix and coordinates
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131 r_x = Rx_matrix(x_angle)
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132 rotated_x = []
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133 for i in range(3):
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134 rotated_x.append((sum([r_x[i][j] * point3[j] for j in range(3)])))
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135 return rotated_x
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136
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137 # Function to calculate the values in the Y rotation matrix
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138 def Ry_matrix(y_angle): # Ry rotation matrix
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139 return [[cos(math.radians(y_angle)), 0.0, sin(math.radians(y_angle))],[0.0, 1.0, 0.0],[-sin(math.radians(y_angle)),0.0, cos(math.radians(y_angle))]]
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140
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141 # Function to calculate the new coordinates rotated with Y rotation matrix
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142 def Y_rotation(point4, y_angle): #multiplication rotation matrix and coordinates
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143 r_y = Ry_matrix(y_angle)
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144 rotated_y = []
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145 for i in range(3):
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146 rotated_y.append((sum([r_y[i][j] * point4[j] for j in range(3)])))
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147 return rotated_y
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148
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149 #Function to shift the object to the zeropoint
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150 def shift_to_zero(listsym, listtotal_vertex):
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151 sym3 = listsym[2]
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152 zeropoint = sym3
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153 list2 = [] # sublist coordinates
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154 listdata3 = [] # new coordinates
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155 # every coordinate minus the sym3 coordinates
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156 for vertex in range(0,len(listtotal_vertex)):
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157 list2.append(float(listtotal_vertex[vertex][0]) - float(zeropoint[0]))
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158 list2.append(float(listtotal_vertex[vertex][1]) - float(zeropoint[1]))
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159 list2.append(float(listtotal_vertex[vertex][2]) - float(zeropoint[2]))
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160 listdata3.append(list2) # add new coordinates to list
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161 list2 = []
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162
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163 # to function 'rotate z axis'
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164 rotate_z_axis(listdata3)
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165
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166 # Function for rotating the object around z axis
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167 def rotate_z_axis(listdata3):
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168 # If object is upside down, 180 degrees rotation around the Z axis is needed.
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169 listdatatemp = []
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170 # check if object is upside down
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171 if listdata3[0][1] < listdata3[2][1]:
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172 angle = 180
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173 # rotate 180 degrees.
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174 for coordinates in range(0,len(listdata3)):
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175 listdatatemp.append(Z_rotation(listdata3[coordinates], angle))
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176 listdata3 = listdatatemp # new coordinates
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177
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178
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179 # calculate angle rotation z
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180 len_z_a = listdata3[0][0] - listdata3[2][0]
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181 len_z_b = listdata3[0][1] - listdata3[2][1]
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182 z_angle = (math.degrees(math.atan(len_z_a/len_z_b)))
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183
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184 # calculate new coordinates with rotation matrix of Z
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185 listdata4 = []
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186 for coordinates in range(0, len(listdata3)):
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187 listdata4.append(Z_rotation(listdata3[coordinates], z_angle)) # add new coordinates to list
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188 listdata3 = []
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189
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190 # to function 'rotate x axis'
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191 rotate_x_axis(listdata4)
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192
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193 # Function for rotating the object around x axis
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194 def rotate_x_axis(listdata4):
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195 #calculate angle rotation x
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196 len_x_a = listdata4[0][2] - listdata4[2][0]
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197 len_x_b = listdata4[0][1] - listdata4[2][0]
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198 x_angle = -(math.degrees(math.atan(len_x_a/len_x_b)))
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199
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200 # calculate new coordinates with rotation matrix of X
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201 listdata5 = []
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202 for coordinates in range(0, len(listdata4)):
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203 listdata5.append(X_rotation(listdata4[coordinates], x_angle)) # add new coordinates to list
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204 listdata4 = []
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205
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206 # to function 'rotate y axis'
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207 rotate_y_axis(listdata5)
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208
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209 # Function for rotating the object around y axis
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210 def rotate_y_axis(listdata5):
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211 #calculate angle rotation y
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212 len_y_a = (listdata5[1][0] - listdata5[2][0])
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213 len_y_b = (listdata5[1][2] - listdata5[2][2])
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214 y_angle = -(math.degrees(math.atan(len_y_a/len_y_b)))
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215
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216 # calculate new coordinates with rotation matrix of Y
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217 listdata6 = []
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218 for coordinates in range(0, len(listdata5)):
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219 listdata6.append(Y_rotation(listdata5[coordinates], y_angle))
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220
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221 listdata5 = []
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222 #Rotate 180 degrees around y axis when object is backwards.#
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223 listdatatemp = []
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224 if listdata6[1][0] < listdata6[3][0]: #point sym2_x < point sym 3
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225 angle = 180
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226 for coordinates in range(0,len(listdata6)):
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227 listdatatemp.append(Y_rotation(listdata6[coordinates], angle)) # add new coordinates to list
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228 listdata6 = listdatatemp
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229
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230 # to function 'write new coordinates'
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231 write_new_coordinates(listdata6)
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232
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233 # Function write the new coordinates to outputfile.
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234 def write_new_coordinates(listdata6):
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235 file_outputname4 = 'outputrotate_points.ply' # sub outputfile
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236 output4 = open(file_outputname4, 'w')
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237
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238 # write every coordinate to output file
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239 for line in range(0,len(listdata6)):
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240 output4.write("%.7f %.7f %.7f\n"%(listdata6[line][0], listdata6[line][1], listdata6[line][2]))
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241
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242 # Function to write the new ply file with
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243 def write_ply_file(name_file_ply, var_header,var_vertex_nm,var_face_nm, listtotal_colors, listtotal_vertex):
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244 outfile_rotating2 = open(sys.argv[3], 'w') #create new file
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245 pointsfile = open('outputrotate_points.ply', 'r') #new points
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246 file2= open(name_file_ply) #original ply file
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247 counter = 0 # counter for color
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248
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249 # writing all the parts of the new ply file
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250 for line in range(0,(int(var_header) + int(var_vertex_nm) + int(var_face_nm) + 1)):
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251 line2 = file2.readline()
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252 readline2 = line2.strip().split()
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253 if line <= (int(var_header)): #header writing
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254 outfile_rotating2.write('%s'%(line2))
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255 if line == int(var_header): #new coordinates writing
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256 line2 = file2.readline()
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257 readline2 = line2.strip().split()
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258 for vertex in range(0,len(listtotal_vertex)):
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259 line3 = pointsfile.readline().strip()
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260 if vertex >= 4: #from point 4, because they were extra edit to the list in the beginning
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261 outfile_rotating2.write('%s %s %s %s\n'%
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262 (line3, listtotal_colors[counter][0],
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263 listtotal_colors[counter][1], listtotal_colors[counter][2]))
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264 counter += 1
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265 if line == (int(var_vertex_nm) + int(var_header)-1): #write the faces
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266 for face in range(0, int(var_face_nm)):
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267 line2 = file2.readline()
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268 outfile_rotating2.write('%s'%(line2))
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269 counter = 0
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270
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271 outfile_rotating2.close() # outputfile close
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272
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273 main()
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