webify_models_v2.py

#!/usr/bin/python

# A script to update gazebo models to be web-friendly.
# It converts all textures to png format and make sure they are
# stored in the [model_name]/materials/textures/ directory.
# Texture references in the collada dae files are also updated
# to have the correct path.

# Usage: ./webify_models_v2.py path_to_model_directory

import os
import subprocess
import sys
import shutil

# explicitly set encoding in osx otherwise sometimes sed throws
# an illegal byte sequence error
if sys.platform == 'darwin':
  os.environ['LANG'] = 'C'

path = sys.argv[1]

files = os.listdir(path)

find_cmd = ['find', path, '-name','*']
files = subprocess.check_output(find_cmd).split()

for file in files:
  try:
    path, filename = os.path.split(file)
    name, format = filename.split(".")[-2:]

  except:
    continue # not a texture
  try:
    dest_dir = path
    dest_path = "%s/%s.png" % (dest_dir, name)
    cmd = None

    # convert texture files to png
    if format.lower() in ['tif', 'tga', 'tiff', 'jpeg', 'jpg', 'gif', 'png']:
      if dest_path != file:
        cmd = ['convert', file, dest_path]
        subprocess.check_call(cmd)
        cmd = ['rm', file]
        subprocess.check_call(cmd)

      # make sure texture files only exist in materials/textures dir
      texture_dir = path
      if (texture_dir.find('materials/textures') == -1 and
          texture_dir.find('meshes') != -1):
        model_path, other = texture_dir.split('meshes')
        texture_dir = os.path.join(model_path, 'materials/textures')
        cmd = ['mkdir', '-p', texture_dir]
        subprocess.check_call(cmd)

      if texture_dir != dest_dir:
        cmd = ['mv', dest_path, texture_dir]
        print cmd
        subprocess.check_call(cmd)

    # update texture path in dae files
    if format.lower() in ['dae']:
      sed_cmd = ["sed", "-i", "-e",
        's/\(\.tga\|\.tiff\|\.tif\|\.jpg\|\.jpeg\|\.gif\)/\.png/g', file]
      print sed_cmd
      subprocess.check_call(sed_cmd)

      # find relatvie path to texture dir
      texture_dir = path
      if (texture_dir.find('materials/textures') == -1 and
          texture_dir.find('meshes') != -1):
        model_path, other = texture_dir.split('meshes')
        subdir_count = len(other.split('/'))
        relative_path = ''
        for i in range(0, subdir_count):
          relative_path = relative_path + '\.\.\/'

        # replace dae file png references to texture path
        sed_cmd = ["sed", "-i","-e",
          's/\(>\)\(.*\/\)\(.*\.png\)/\\1'+ relative_path + 'materials\/textures\/\\3/g', file]
        print sed_cmd
        subprocess.check_call(sed_cmd)

        sed_cmd = ["sed", "-i","-e",
          '/[a-zA-Z0-9_\.\/\-]\+materials\/textures/!s/\([a-zA-Z0-9_\-]\+\)\(\.png\W\)/'+ relative_path + 'materials\/textures\/\\1\\2/g', file]

        print sed_cmd
        subprocess.check_call(sed_cmd)

    if format.lower() in ['material', 'txt', 'sdf']:
      sed_cmd = ["sed", "-i", "-e",
        's/\(\.tga\|\.tiff\|\.tif\|\.jpg\|\.jpeg\|\.gif\)/\.png/g', file]
      print sed_cmd
      subprocess.check_call(sed_cmd)

  except Exception, e:
      print "error %s" % e
      raise