jHdZddlZddlZddlZddlmZddlZddlm Z ddl m Z ddl m Z m Z e jdZej d gd Zd Zdd Zd ZddZddZddZddZGddZddZdeiZy)z Parsing functions for Binvox files. https://www.patrickmin.com/binvox/binvox.html Exporting meshes as binvox files requires the `binvox` executable to be in your path. N)TemporaryDirectory)util)Trimesh) comment_strip decode_textbinvoxBinvox)rle_datashape translatescalecHt|jj}d|jvr t di}d}t dD]u}t t|jjdjj}t|dk(r_|ddk(rd}n |d d ||d<w|s t d d |jvrt d |jdtj|d tj}tj|jdgdtj}tj|jdd gtj}|||dfS)a Read the header from a binvox file. Spec available: https://www.patrickmin.com/binvox/binvox.html Parameters ------------ fp: file-object File like object with binvox file Returns ---------- shape : tuple Shape of binvox according to binvox spec translate : tuple Translation scale : float Scale of voxels Raises ------------ IOError If invalid binvox file. r z!File is not in the binvox format!Fd#rdataTNz1Didn't reach header termination magic word `data`dimz;Malformed binvox header: `dim` is required, only received ``dtyper rrrr)rreadlinestriplower ValueErrorrangersplitlenkeysnparrayint64getfloat64) file_objfirstheader reached_data_liner r rs D/DATA/.local/lib/python3.12/site-packages/trimesh/exchange/binvox.py_parse_binvox_headerr-ss6 ))+ , 2 2 4Eu{{}$<== FL 3Z +h&7&7&9:@@BC H N N P V V X  t9>  !W  L qr(tAw!$ LMM FKKM!I&++-XY Z  HHVE]"(( 3EK;RZZHI HHVZZ!-RZZ @E )U1X %%ct|\}}}|j}tj|tj}|r|j }t ||||S)ax Read a binvox file, spec at https://www.patrickmin.com/binvox/binvox.html Parameters ------------ fp: file-object File like object with binvox file Returns ---------- binvox : namedtuple Containing data rle : numpy array Run length encoded data Raises ------------ IOError If invalid binvox file r)r-readr! frombufferuint8copyr )fp writeabler r rrr s r, parse_binvoxr6`sS.326E9e 779D}}T2H==? (E9e 44r.cXd|D\}}}|\}}}d|d|d|d|d|d|d|dS)a/ Get a binvox header string. Parameters -------- shape: length 3 iterable of ints denoting shape of voxel grid. translate: length 3 iterable of floats denoting translation. scale: num length of entire voxel grid. Returns -------- string including "data " line. c32K|]}t|ywN)int).0ss r, z binvox_header..s(%Q#a&%z'#binvox 1 # generated in `trimesh` dim  z translate z scale z data ) r r rsxsysztxtytzs r, binvox_headerrGsd)%(JBBJBBD"Qrd $at1RD g  r.c|jtjk7rtd|jt |||j }||j zS)aGet a binary representation of binvox data. Parameters -------- rle_data : numpy array Run-length encoded numpy array. shape : (3,) int Shape of voxel grid. translate : (3,) float Translation of voxels scale : float Length of entire voxel grid. Returns -------- data : bytes Suitable for writing to binary file z%rle_data.dtype must be np.uint8, got )rr!r2rrGencodetobytes)r r r rr(s r, binvox_bytesrKsW&~~!@@PQRR 5)U 3 : : 0, y => 1, z => 2 denoting the order of axes in the encoded data. binvox by default saves in xzy order, but using `xyz` (or (0, 1, 2)) will be faster in some circumstances. Returns --------- result : VoxelGrid Loaded voxels r)transformations)encoding) VoxelGridrr)rr xzyrrrc3(K|] }| ywr9r@)r;pr s r,r=z$voxel_from_binvox..s-1eAhsxyzz5Invalid axis_order '%s': must be None, 'xyz' or 'xzy')rMvoxelrN voxel.baserO isinstanceRunLengthEncodingboolscale_and_translater!r"tuplereshape transposerr ) r r r r axis_orderrMencrOrN transformperms ` r,voxel_from_binvoxrcs:#'&(C112(((> 33rxx*+y4IU---##E*44T:  zU2##E* CZ   >>U "" " Xy ))r.c||dk7rtd|t|d}t|j|j|j |j |S)a Load trimesh `VoxelGrid` instance from file. Parameters ----------- file_obj : file-like object Contains binvox data resolver : unused axis_order : str Order of axes in encoded data. Binvox default is 'xzy', but 'xyz' may be faster where this is not relevant. Returns --------- result : trimesh.voxel.VoxelGrid Loaded voxel data r z&file_type must be None or binvox, got T)r5)r r r rr_)rr6rcr r r r)r&resolverr_ file_typers r, load_binvoxrgs\&h!6A)MNN D 1D jj..jj  r.cL|j}|jtj|jdz z}tj |dk\}|j j|}tj|}tj|d|ddd|dzdzs td|d}|dk(r|jd}n|d k7r td |jjtj }t!||j|| S) a Export `trimesh.voxel.VoxelGrid` instance to bytes Parameters ------------ voxel : `trimesh.voxel.VoxelGrid` Assumes axis ordering of `xyz` and encodes in binvox default `xzy` ordering. axis_order : str Eements in ('x', 'y', 'z', 0, 1, 2), the order of axes to encode data (standard is 'xzy' for binvox). `voxel` data is assumed to be in order 'xyz'. Returns ----------- result : bytes Representation according to binvox spec rrNgư>g:0yE>z)Can only export binvox with uniform scalerPrQrTz1Invalid axis_order: must be one of ("xyz", "xzy")r)r r r) translationrr!r"r whererNflipabsrallcloserr^flatrun_length_datar2rK)rVr_r r neg_scalerNr s r, export_binvoxrqs&!!I KK288EKK014 5E88EAI&LY~~""9-H FF5ME ==q59dU1Xo.D EDEE !HEU%%i0 u LMM}},,288," (ids 1-255 only). use_offscreen_pbuffer: use offscreen pbuffer instead of onscreen window. downsample_factor: downsample voxels by this factor in each dimension. Must be a power of 2 or None. If not None/1 and `core dumped` errors occur, try slightly adjusting dimensions. downsample_threshold: when downsampling, destination voxel is on if more than this number of voxels are on. verbose : bool If False, silences stdout/stderr from subprocess call. binvox_path : str Path to binvox executable. The default looks for an executable called `binvox` on your `PATH`. Nr?)z8No `binvox_path` provided and no binvox executable foundz.s5 1A r>z-riz-cb)z-rotx)z-rotzz-awz-fitz-biz-mbz-pbz.downsample_factor must be a power of 2, got %d)z-downz-dminPATH)binvox_encoderOSErrorjoinrrsSUPPORTED_OUTPUT_TYPESrappendrextendr!log2r:_args _file_typeverbose)self dimensionrfz_buffer_carvingz_buffer_votingdilated_carvingexact bounding_boxremove_internalcenterrotate_xrotate_z wireframefitblock_iduse_material_block_iduse_offscreen_pbufferdownsample_factordownsample_thresholdr binvox_pathencoderargstimess r,__init__zBinvoxer.__init__qsJN  $G!G ?  t ELiX X H;; ;YK'MhNmNmMpq s9~tY?  KK   D!  KK M   KK   #< A% !DEE KK  KK5 5 5  KK   KK  J)* J)*  KK   KK    KK) * KK  KK   (GG-.E5zU" DFW KK SZ/ 0  + KK#&:";< = F # r.c|jSr9)r)rs r,rfzBinvoxer.file_types r.ctjj|\}}|ddj}|tj vrt d|dtj |d|j}tjj|r |s td||jd<tj|jtj}|jrtj j#||S) as Create an voxel file in the same directory as model at `path`. Parameters ------------ path: string path to model file. Supported types: 'ug' 'obj' 'off' 'dfx' 'xgl' 'pov' 'brep' 'ply' 'jot' (polygongs only) overwrite: if False, checks the output path (head.file_type) is empty before running. If True and a file exists, raises an IOError. Returns ------------ string path to voxel file. File type give by file_type in constructor. rNrz% not in set of supported input types .z-Attempted to voxelize object at existing path)stderr)ospathsplitextrrsSUPPORTED_INPUT_TYPESrrisfilerr subprocess check_outputSTDOUTrrlogdebug)rr overwriteheadextout_path verbositys r,__call__zBinvoxer.__call__s.GG$$T* c!"gmmo h44 4SE!FxGeGeFhi V1T__-. 77>>( #IIJ J 2++DJJz?P?PQ  << HHNN9 %r.) r TTFTNFFrrFFNFFNNFNF) __name__ __module__ __qualname____doc__rrrpropertyrfrr@r.r,rsrs4sv$L  ##!+Qf*r.rsc t|tstd|| td i|}nt |dkDr td|j dk7r tdt 5}tjj|d|}t|d5}|j|| ddd||}t|d 5}t|}ddddddS#1swY;xYw#1swYxYw#1swYSxYw) a Interface for voxelizing Trimesh object via the binvox tool. Implementation simply saved the mesh in the specified export_type then runs the `Binvoxer.__call__` (using either the supplied `binvoxer` or creating one via `binvoxer_kwargs`) Parameters ------------ mesh: Trimesh object to voxelize. binvoxer: optional Binvoxer instance. export_type: file type to export mesh as temporarily for Binvoxer to operate on. **binvoxer_kwargs: kwargs for creating a new Binvoxer instance. If binvoxer if provided, this must be empty. Returns ------------ `VoxelGrid` object resulting. z#mesh must be Trimesh instance, got Nrz+Cannot provide binvoxer and binvoxer_kwargsr z6Only "binvox" binvoxer `file_type` currently supportedzmodel.wb)rfrbr@) rXrrrsrrfrrrropenexportrg) meshbinvoxer export_typebinvoxer_kwargsfolder model_pathr4r out_models r, voxelize_meshr5s* dG $>thGHH.o. _  !FGGX%QRR  WW\\&F;-*@A *d #r KKkK 2$J' (D !R#BI"   $ #" !  s<*0DC(.D C4D(C1 -D4C= 9DD r)rr)Ng?rP)NrPN)rP)Nrv)r collectionsrrtempfilernumpyr!rUrbaserrrwhichr namedtupler r-r6rGrKrcrgrqrsr_binvox_loadersr@r.r,rs '-H%   *U VC&L5D4'49*x> WF~~B%P[)r.