compress textures

intuitive-robots · Jan 13, 2025 · 5e98e81 · 5e98e81
1 parent f413650
commit 5e98e81
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Showing 3 changed files with 13 additions and 5 deletions.
diff --git a/demos/IsaacSim/gallery/gallery.py b/demos/IsaacSim/gallery/gallery.py
@@ -72,7 +72,7 @@ def design_scene() -> tuple[dict, list[list[float]]]:
         prim_path="/World/scene",
         init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.0, 0.0], rot=[1.0, 0.0, 0.0, 0.0]),
         spawn=UsdFileCfg(
-            usd_path=f"{Path(__file__).parent.as_posix()}/warehouse.usd",
+            usd_path=f"{Path(__file__).parent.as_posix()}/simple_room.usd",
         ),
     )
     scene_asset_cfg.spawn.func(scene_asset_cfg.prim_path, scene_asset_cfg.spawn)

diff --git a/demos/IsaacSim/gallery/simple_room.usd b/demos/IsaacSim/gallery/simple_room.usd
diff --git a/simpub/parser/isaacsim.py b/simpub/parser/isaacsim.py
@@ -426,13 +426,21 @@ def parse_prim_material(
             with self.timer.start("parse_prim_material_4.2"):
                 if image is not None:
                     image = image.convert("RGB")
+                    image = np.array(image).astype(np.uint8)
+                    image, height, width = SimTexture.compress_image(image, height=image.shape[0], width=image.shape[1])
+                    # sim_mat.texture = SimTexture.create_texture(
+                    #     np.array(image),
+                    #     height=image.height,
+                    #     width=image.width,
+                    #     scene=self.sim_scene,
+                    # )
                     bin_data = image.tobytes()
-                    assert len(bin_data) == image.width * image.height * 3
-                    tex_hash = md5(bin_data).hexdigest()
+                    # assert len(bin_data) == image.width * image.height * 3
+                    tex_hash = SimTexture.generate_hash(bin_data)
                     sim_mat.texture = SimTexture(
                         hash=tex_hash,
-                        width=image.width,
-                        height=image.height,
+                        width=image.shape[1],
+                        height=image.shape[0],
                         textureType="2D",
                         textureScale=(1, 1),
                     )