jw1dZddlmZddlZddlmZddlmZm Z ddlm Z ddl m Z dd lmZdd lmZd d lmZmZmZd d lmZmZGddeZy)zW voxel.py ----------- Convert meshes to a simple voxel data structure and back again. )sha256N)bounds)cachingutil)transformations)log) export_binvox)Geometry) morphologyops transforms) DenseEncodingEncodingc\eZdZdZd&dZdZedefdZedZ e jdZ ed Z e jd Z ed Z ed Z ed ZedZdZdZej&dZej&dZej&dZedZej&dZdZd'dZdZej&dZedZej&dZej&dZedZ d(dZ!dZ"d Z#d!Z$d"Z%d&d#Z&d$Z'd%Z(y)) VoxelGridz Store 3D voxels. NcN|tjd}t|tjrt |j t }|jt k7r tdtj|_ ||_ tj||j|_tj |jj"|_i|_t|t(r|j&j+|y|td|y)Nzencoding must have dtype bool) datastore) id_functionz'metadata should be a dict or None, got )npeye isinstancendarrayrastypebooldtype ValueErrorr DataStore_dataencodingr Transform _transformCache__hash___cachemetadatadictupdate)selfr" transformr(s ?/DATA/.local/lib/python3.12/site-packages/trimesh/voxel/base.py__init__zVoxelGrid.__init__s  q I h +$X__T%:;H >>T !<= =&&(   $..yDJJOmm 0C0CD  h % MM  *  !FxlST T"c6|jjS)z Get the hash of the current transformation matrix. Returns ------------ hash : str Hash of transformation matrix )r!r&r+s r-r&zVoxelGrid.__hash__.szz""$$r/returncbtt|jjSN)rhashto_bytes hexdigestr1s r-identifier_hashzVoxelGrid.identifier_hash9s#d4j))+,6688r/c |jdS)z| `Encoding` object providing the occupancy grid. See `trimesh.voxel.encoding` for implementations. r")r!r1s r-r"zVoxelGrid.encoding=szz*%%r/c`t|tjr t|}nt|tst d|t |jdk7rt d|j|jtk7rt d|j||jd<y)Nz"encoding must be an Encoding, got z#encoding must be rank 3, got shape zencoding must be binary, got r") rrrrrrlenshaperrr!)r+r"s r-r"zVoxelGrid.encodingFs h +$X.HHh/A(NO O x~~ ! #B8>>BTUV V >>T !(>wq!t}(Mrr1u% r/c^|j}tj|jddz |j ddzg}|j j |}tj|jd|j dg}d|j_ |S)Nraxisg?F) sparse_indices bounds_modulecornersminmaxr$transform_pointsrarrayflags writeable)r+indicesrYrs r-rzVoxelGrid.boundss%%'' [[a[ 3 &  (;c(A B //227;7;;A;.  0CDE!&  r/cV|j}|d|dz }d|j_|S)Nr rF)rr^r_)r+rextentss r-rbzVoxelGrid.extentss.)fQi'"' r/c.|jjSr4)r"is_emptyr1s r-rdzVoxelGrid.is_emptys}}%%%r/c.|jjS)z13-tuple of ints denoting shape of occupancy grid.)r"r=r1s r-r=zVoxelGrid.shapes}}"""r/cJ|jjjS)z+int, number of occupied voxels in the grid.)r"sumitemr1s r- filled_countzVoxelGrid.filled_counts}}  %%''r/ctj|}|j|}tjtj|tj |j kdtj|dk\d}tj|}|jj||||<|S)a/ Query points to see if the voxel cells they lie in are filled or not. Parameters ---------- point : (n, 3) float Points in space Returns --------- is_filled : (n,) bool Is cell occupied or not for each point rUr) r asanyarraypoints_to_indices logical_andallr]r= zeros_liker" gather_nd)r+pointr`in_range is_filleds r-rtzVoxelGrid.is_filleds e$((/>> FF7RXXdjj11 ;RVVGqLWY=Z MM(+ "mm55gh6GH (r/c Ttj|jfd|i||_|S)a Mutates self by filling in the encoding according to `morphology.fill`. Parameters ---------- method : hashable Implementation key, one of `trimesh.voxel.morphology.fill.fillers` keys **kwargs : dict Additional kwargs passed through to the keyed implementation. Returns ---------- self : VoxelGrid After replacing encoding with a filled version. method)r fillr")r+rvkwargss r-rwzVoxelGrid.fills'&# OfOO  r/cNtj|j|_|S)am Mutates self by removing internal voxels leaving only surface elements. Surviving elements are those in encoding that are adjacent to an empty voxel where adjacency is controlled by `structure`. Returns ---------- self : VoxelGrid After replacing encoding with a surface version. )r surfacer"r1s r-hollowzVoxelGrid.hollows#**4==9  r/cBtj|jS)a A marching cubes Trimesh representation of the voxels. No effort was made to clean or smooth the result in any way; it is merely the result of applying the scikit-image measure.marching_cubes function to self.encoding.dense. Returns --------- meshed : trimesh.Trimesh Representing the current voxel object as returned by marching cubes algorithm. )rA)rmatrix_to_marching_cubesrAr1s r-marching_cubeszVoxelGrid.marching_cubess++4;;??r/c.|jjS)z Return a DENSE matrix of the current voxel encoding. Returns ------------- dense : (a, b, c) bool Numpy array of dense matrix Shortcut to voxel.encoding.dense )r"denser1s r-rAzVoxelGrid.matrixs}}"""r/c4|j|jzS)z What is the volume of the filled cells in the current voxel object. Returns --------- volume : float Volume of filled cells. )rirLr1s r-volumezVoxelGrid.volumes  4#6#666r/cr|jj|jjtS)z The center of each filled cell as a list of points. Returns ---------- points : (self.filled, 3) float Points in space. )r$r\rWrfloatr1s r-pointszVoxelGrid.points!s*//0C0C0J0J50QRRr/c.|jjS)z6(n, 3) int array of sparse indices of occupied voxels.)r"rWr1s r-rWzVoxelGrid.sparse_indices-s}}+++r/c |tj|}|jdk(rP|j}|jdd|jk(r||j }n=t jdd}n%|jdvrt jdd}tj|jjt|}|j|j}|S)a A rough Trimesh representation of the voxels with a box for each filled voxel. Parameters ---------- colors : None, (3,) or (4,) float or uint8 (X, Y, Z, 3) or (X, Y, Z, 4) float or uint8 Where matrix.shape == (X, Y, Z) Returns --------- mesh : trimesh.Trimesh Mesh with one box per filled cell. Nrr;zcolors incorrect shape!)r;)r)centerscolors)rrlndimr"r=rr warningrmultiboxrWrrrNr,)r+rrxr"meshs r-as_boxeszVoxelGrid.as_boxes2s"  ]]6*F{{a==<<#x~~5$HNN3FKK 9:!F\1 56||D$7$7$>$>u$EfU##DNN3 r/c|jj|}tj|j t S)z Convert points to indices in the matrix array. Parameters ---------- points: (n, 3) float, point in space Returns --------- indices: (n, 3) int array of indices into self.encoding )r$inverse_transform_pointsrroundrint)r+rs r-rmzVoxelGrid.points_to_indicesWs299&Axx&&s++r/c^|jj|jtSr4)r$r\rr)r+r`s r-rQzVoxelGrid.indices_to_pointsfs //u0EFFr/cd|j|jddj|i|S)z Convert the current set of voxels into a trimesh for visualization and show that via its built- in preview method. rN)rpopshow)r+argsrxs r-rzVoxelGrid.showis0 >t}}VZZ$78==tNvNNr/ct|jj|jjjSr4)rr"copyr$rAr1s r-rzVoxelGrid.copyps/++-t/E/E/J/J/LMMr/c pt|tr%|#tj|j }|dk7r t dt |fi|}t|dr|j||St|tr(t|d5}|j|ddd|S|S#1swY|SxYw)aH Export the current VoxelGrid. Parameters ------------ file_obj : file-like or str File or file-name to export to. file_type : None or str Only 'binvox' currently supported. Returns --------- export : bytes Value of export. Nbinvoxzonly binvox exports supported!writewb) rstrrsplit_extensionlowerrr hasattrropen)r+file_obj file_typerxexportedfs r-exportzVoxelGrid.exportss h $):,,X6<<>I  => > 00 8W % NN8 $# &h%!&x&s B++B5cRt|}|jj}|j}t j ||j |dz}|j|}|tj|z }|d}t|tj||S)au Create a new VoxelGrid without rotations, reflections or shearing. Parameters ---------- shape : (3, int) The shape of the returned VoxelGrid. Returns ---------- vox : VoxelGrid Of the given shape with possibly non-uniform scale and translation transformation matrix. rr)r,) tuplerrrbr grid_linspacereshapertrrlrtrscale_and_translate)r+r=rrbrrrG translates r- revoxelizedzVoxelGrid.revoxelizeds e !!#,,##FE2::54<Hv&"--..1I "*@*@ *RSSr/ctd)Nz$TODO : implement voxel concatenation)NotImplementedError)r+others r-__add__zVoxelGrid.__add__s!"HIIr/)NN)holesr4))__name__ __module__ __qualname____doc__r.r&propertyrr8r"setterr,rErGrIrLrNrSrcache_decoratorrrbrdr=rirtrwr{r~rArrrWrrmrQrrrrrr/r-rrsU& %999&&__ * *&&((++%%%%$++       &&## ((2," @@  # #  7 7  S S,,#J ,GON<T2Jr/r)rhashlibrnumpyrrrXrrrr constantsr exchange.binvoxr parentr r rrr"rrrrr/r-rs=&$+))-UJUJr/