jM5ddlZddlmZddlmZddlmZmZm Z m Z dZ dZ e Z dded e eefd e efd Zd Zdd ZddZej$fdZdZddZddZddZy)N)util)log) ArrayLikeNumberOptionalUnionc<|jtjtjdDddidtj|fd}|d}t dt D]}tj|||} |S) Nc3FK|]}tj|yw)N)nparange).0ss >/DATA/.local/lib/python3.12/site-packages/trimesh/voxel/ops.py z$fill_orthographic.. s2EqbiilEs!indexingijaxiscd|f}|j}||<tj||d}|j}d|<tj||d}tj||k\||kS)N.T)rkeepdimsr)copyr minmax logical_and)rbase_local_indices local_indicesminsmaxsemptyindicesshapes r fill_axisz$fill_orthographic..fill_axiss$S$Y/*//1 $T{ evvm$>*//1 ! evvm$>~~ $ & $ &  r)r#r stackmeshgrid logical_notrangelenr)denser$filledrr!r"r#s @@@rfill_orthographicr.s KKEhh 2E2BTBG NN5 !E  A FaU$ $8% Mr%c tj|tj}tj|ds t d|j dz}tj|||ft}tj|d}d|t|j<t|D]c}d}td|dz D]}g}tj|||dd f|||ddf}tjtj|ddz}t!|} | d zdkDxr| d kD}| d krytd| | d zz d D]} d||||| || dzf<|std|dz D]} g}tj||dd | f||dd| f}tjtj|ddz}t!|} | d krjtd| | d zz d D]} d|||| || dz| f<ftj"tj|} | dz} | S) z Given a sparse surface voxelization, fill in between columns. Parameters -------------- sparse_indices: (n, 3) int, location of filled cells Returns -------------- filled: (m, 3) int, location of filled cells dtyperzincorrect shaper3r&FrNr)r asanyarrayint64ris_shape ValueErrorrzerosbooladdtupleTr*equalwherer)r+ column_stack) sparse_indices max_valuegrid voxels_sparsei check_dir2jidxeqcrkr-s r fill_baserL#sG]]>BN == 1*++""$q(I 88Y 95t 1-M#$D}  9  q)a-(AC$q!SbSy/41ab>:B((2>>"-.q1A5CCAa%1.QJ1u1a!a%i+23Q3q6CAJ../,) q)a-(AC$q#2#qy/412q>:B((2>>"-.q1A5CCA1u1a!a%i+23QAQU+Q./,)%<__RXXd^ ,F aKF Mr%matrixpitch thresholdcfddlm}ddlm}|t j ||kD}nt j |t }t j|}d}t j||dd }t|d r |j}n |j}t j |}|jdk(r|fd z}||d | }t|dk(rtjd|\} } d} nt|dk(r|\} } } } t j  ||z} ||   } | S)a& Convert an (n, m, p) matrix into a mesh, using marching_cubes. Parameters ----------- matrix : (n, m, p) bool Occupancy array pitch : float or length-3 tuple of floats, optional Voxel spacing in each dimension threshold : float or None, optional If specified, converts the input into a boolean matrix by considering values above `threshold` as True Returns ---------- mesh : trimesh.Trimesh Mesh generated by meshing voxels using the marching cubes algorithm in skimage r)measurerTrimeshNr0r&constant) pad_widthmodeconstant_valuesmarching_cubes_lewinerr3g?)volumelevelspacingz0using old marching cubes, may not be watertight!r4)verticesfacesvertex_normals)skimagerQbaserSr r5r:r)padhasattrrXmarching_cubessizer+rwarningsubtract)rMrNrOrQrS rev_matrixrUfuncmeshedr\r]normals_valsmeshs rmatrix_to_marching_cubesrmcs(2 v&2vT2'JIy QJ w01--%% MM% E zzQ1  F 6{a FG % V *0'%%{{8Y%67H HE' JD Kr%ctj|tj}tj|ds t d|j ddz}tjtj|t}tjtj|dd|ddg}||zjd}d ||<|j|}|S) a Take a sparse (n,3) list of integer indexes of filled cells, turn it into a dense (m,o,p) matrix. Parameters ----------- sparse : (n, 3) int Index of filled cells Returns ------------ dense : (m, o, p) bool Matrix of filled cells r0r2zsparse must be (n,3)!rrr&NrT) r r5r6rr7r8rr9prodr:arraysumreshape)sparser#rM multiplierindexr,s rsparse_to_matrixrvs ]]6 2F == )011 JJAJ  "E XXbggenD 1F27759-uQx;?  IIc'l #S\ xx%077< E<01 )8+l:HHQAeAhi7QR GGCF$/ K F# ;;! D\((WA(>F ;;! F s7| ; ---3I>K AQy\{ KD KRsL#cddl}tj|jd|j d|jd|j dg}|jddz }t tj |ddz}|j||z jtjt|t|}|j||z jtjt|t|}|||} tj| j|z} | S)a Find common rows between two arrays very quickly using 3D boolean sparse matrices. Parameters ----------- a: (n, d) int, coordinates in space b: (m, d) int, coordinates in space operation: numpy operation function, ie: np.logical_and np.logical_or Returns ----------- coords: (q, d) int, coordinates in space rNrr&rr0)datar#)rsr rprrr<ptpCOOr=rr+r:r@coords) ar operationrsextremar}rdsp_asp_bappliedrs rboolean_sparser<s&hh1 quu!u}aeeemQUUPQU]STG [[a[ 1 $F a(1, -D ::q6znn2773q6+Fd: SD ::q6znn2773q6+Fd: SDd#G __W^^ ,v 5F Mr%c|j}t|}g}g}tt|D]}tt|tt|dz|z}t j ||}t j |\}|d} |d} |j| | g|jt| | |t|t j|tfS)Nr&rrr) r#r+r*r<r anynonzeroappendslicerpr) rr#ndimspaddingslicesdimrr-r"pad_left pad_rights r strip_arrayrcs JJE JEG FSZ U3Z 5sQw)>#??4(ZZ' 1:BK ),- eHi01! f # 6 66r%c@tj|}|jdddk7r tdtj|tj }||t |z}|4tj|}|jdk7r td||z }|S)ak Convert indices of an (n,m,p) matrix into a set of voxel center points. Parameters ---------- indices: (q, 3) int, index of voxel matrix (n,m,p) pitch: float, what pitch was the voxel matrix computed with origin: (3,) float, what is the origin of the voxel matrix Returns ---------- points: (q, 3) float, list of points r&Nr3zshape of indices must be (q, 3)r0shape of origin must be (3,))r r5r#r8rprxry)r"rNr}r|s rindices_to_pointsrssmmG$G}}QRD :;; XXgRZZ 0F %, v& <<4 ;< <& Mr%crtjtj|}t|||}|S)aS Convert an (n,m,p) matrix into a set of points for each voxel center. Parameters ----------- matrix: (n,m,p) bool, voxel matrix pitch: float, what pitch was the voxel matrix computed with origin: (3,) float, what is the origin of the voxel matrix Returns ---------- points: (q, 3) list of points )r"rNr})r r@rr)rMrNr}r"r|s rmatrix_to_pointsrs.oobjj01G weF KF Mr%ctj|tj}|j|jddfk7r t d|4tj |}|jdk7r t d||z}|||z}tj |tj}t |}tj|jt}|S)a Convert center points of an (n,m,p) matrix into its indices. Parameters ---------- points : (q, 3) float Center points of voxel matrix (n,m,p) pitch : float What pitch was the voxel matrix computed with origin : (3,) float What is the origin of the voxel matrix Returns ---------- indices : (q, 3) int List of indices r0rr3zshape of points must be (q, 3)rr) r rprxr#r8r5ryrzr{r)r|rNr}r"s rpoints_to_indicesrs$XXfBJJ /F || Q++9:: v& <<4 ;< <& % ]]6 4F %LEhhv%%c*G Nr%)?N)r)rNF)NN)numpyr rr constantsrtypedrrrr r.rLfill_voxelizationrmrvr~rrrrrrrr%rrs666:z '*"&H H " #HHV>DJZ$&>>$N 7 <&"r%