Tiw1dZddlmZddlZddlmZddlmZm Z ddlm Z ddl m Z dd lmZdd lmZd d lmZmZmZd d lmZmZGddeZdS)zW voxel.py ----------- Convert meshes to a simple voxel data structure and back again. )sha256N)bounds)cachingutil)transformations)log) export_binvox)Geometry) morphologyops transforms) DenseEncodingEncodingcveZdZdZd'dZdZedefdZedZ e j dZ ed Z e j d Z ed Z ed Z ed ZedZdZdZejdZejdZejdZedZejdZdZd(dZdZejdZedZejdZejdZedZ d)dZ!d Z"d!Z#d"Z$d#Z%d'd$Z&d%Z'd&Z(dS)* VoxelGridz Store 3D voxels. NcP|tjd}t|tjr't |t }|jt krtdtj |_ ||_ tj||j |_tj|j j|_i|_t|t(r|j|dS|td|dS)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 L/DATA/AppData/hermes/venv/lib/python3.11/site-packages/trimesh/voxel/base.py__init__zVoxelGrid.__init__s  q I h + + <$X__T%:%:;;H >T ! !<== =&((   $.yDJOOOm 0CDDD  h % % U M  * * * * *  !SxSSTT T" !c4|jS)z Get the hash of the current transformation matrix. Returns ------------ hash : str Hash of transformation matrix )r!r&r+s r-r&zVoxelGrid.__hash__.sz""$$$r/returnctt|SN)rhashto_bytes hexdigestr1s r-identifier_hashzVoxelGrid.identifier_hash9s.d4jj))++,,66888r/c|jdS)z| `Encoding` object providing the occupancy grid. See `trimesh.voxel.encoding` for implementations. r")r!r1s r-r"zVoxelGrid.encoding=sz*%%r/cht|tjrt|}n't|tst d|t |jdkrt d|j|jtkrt d|j||j d<dS)Nz"encoding must be an Encoding, got z#encoding must be rank 3, got shape zencoding must be binary, got r") rrrrrrlenshaperrr!)r+r"s r-r"zVoxelGrid.encodingFs h + + P$X..HHHh// PN(NNOO O x~  ! # #U8>UUVV V >T ! !MX^MMNN N!) :r/c|jjS)&4x4 homogeneous transformation matrix.r$matrixr1s r-r,zVoxelGrid.transformRs%%r/c||j_dS)r?Nr@r+rAs r-r,zVoxelGrid.transformWs"(r/c|jjS)zLocation of voxel at [0, 0, 0].)r$ translationr1s r-rEzVoxelGrid.translation\s**r/c|jjS)z 3-element float representing per-axis scale. Raises a `RuntimeError` if `self.transform` has rotation or shear components. )r$scaler1s r-rGzVoxelGrid.scaleas$$r/c|jjS)a\ Uniform scaling factor representing the side length of each voxel. Returns ----------- pitch : float Pitch of the voxels. Raises ------------ `RuntimeError` If `self.transformation` has rotation or shear components of has non-uniform scaling. )r$pitchr1s r-rIzVoxelGrid.pitchks"$$r/c|jjSr4)r$ unit_volumer1s r-element_volumezVoxelGrid.element_volume~s **r/c:|j||Sr4)r$apply_transformrCs r-rNzVoxelGrid.apply_transforms ''/// r/c|jj\}}||_||dddf|jjdddf<|S)z Mutate self by stripping leading/trailing planes of zeros. Returns -------- self after mutation occurs in-place Nrr;)r"strippedindices_to_pointsr$rA)r+r"paddings r-stripzVoxelGrid.stripsP!M2'  (,(>(>wqqq!t}(M(Mrr1u% r/cd|j}tj|ddz |ddzg}|j|}tj|d|dg}d|j _ |S)Nraxisg?F) sparse_indices bounds_modulecornersminmaxr$transform_pointsrarrayflags writeable)r+indicesrYrs r-rzVoxelGrid.boundss%' [[a[ 3 &  (;(;c(A B  /227;;7;;A;..  0C0CDEE!&  r/cN|j}|d|dz }d|j_|S)Nr rF)rr^r_)r+rextentss r-rbzVoxelGrid.extentss*)fQi'"' r/c|jjSr4)r"is_emptyr1s r-rdzVoxelGrid.is_emptys }%%r/c|jjS)z13-tuple of ints denoting shape of occupancy grid.)r"r=r1s r-r=zVoxelGrid.shapes}""r/c>|jjS)z+int, number of occupied voxels in the grid.)r"sumitemr1s r- filled_countzVoxelGrid.filled_counts} %%'''r/c~tj|}||}tjtj|tj|jkdtj|dkd}tj|}|j ||||<|S)a/ Query points to see if the voxel cells they lie in are filled or not. Parameters ---------- point : (n, 3) float Points in space Returns --------- is_filled : (n,) bool Is cell occupied or not for each point rUr) r asanyarraypoints_to_indices logical_andallr]r= zeros_liker" gather_nd)r+pointr`in_range is_filleds r-rtzVoxelGrid.is_filleds e$$((//> F7RXdj111 ; ; ;RVGqLWY=Z=Z=Z  M(++ "m55gh6GHH (r/holesc Btj|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+rwkwargss r-rxzVoxelGrid.fills)&# OOfOOO  r/cBtj|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=99  r/c6tj|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/c |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#666r/cp|j|jtS)z The center of each filled cell as a list of points. Returns ---------- points : (self.filled, 3) float Points in space. )r$r\rWrfloatr1s r-pointszVoxelGrid.points!s+//0C0J0J50Q0QRRRr/c|jjS)z6(n, 3) int array of sparse indices of occupied voxels.)r"rWr1s r-rWzVoxelGrid.sparse_indices-s}++r/c |tj|}|jdkrD|j}|jdd|jkr||j}n6t jdd}n|jdvrt jdd}tj |j t|}| |j}|S)a A rough Trimesh representation of the voxels with a box for each filled voxel. Parameters ---------- colors : None, (3,) or (4,) float or uint8 (X, Y, Z, 3) or (X, Y, Z, 4) float or uint8 Where matrix.shape == (X, Y, Z) Returns --------- mesh : trimesh.Trimesh Mesh with one box per filled cell. Nrr;zcolors incorrect shape!)r;)r)centerscolors)rrlndimr"r=rr warningrmultiboxrWrrrNr,)r+rryr"meshs r-as_boxeszVoxelGrid.as_boxes2s"  ]6**F{a=<#x~55$HN3FFK 9:::!FF\11 5666|D$7$>$>u$E$EfUUU##DN33 r/c|j|}tj|t S)z Convert points to indices in the matrix array. Parameters ---------- points: (n, 3) float, point in space Returns --------- indices: (n, 3) int array of indices into self.encoding )r$inverse_transform_pointsrroundrint)r+rs r-rmzVoxelGrid.points_to_indicesWs799&AAx&&s+++r/cf|j|tSr4)r$r\rr)r+r`s r-rQzVoxelGrid.indices_to_pointsfs$//u0E0EFFFr/cj||ddj|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+argsrys r-rzVoxelGrid.showis6 >t}}VZZ$7788=tNvNNNr/ct|j|jjSr4)rr"copyr$rAr1s r-rzVoxelGrid.copyps1++--t/E/J/J/L/LMMMr/c t|tr(|&tj|}|dkrt dt |fi|}t|dr||nRt|tr=t|d5}||dddn #1swxYwY|S)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_typeryexportedfs r-exportzVoxelGrid.exportss h $ $ ?):,X66<<>>I  =>> > 0000 8W % % " NN8 $ $ $ $ # & & "h%% "!!! " " " " " " " " " " " " " " "s+C  CCcft|}|j}|j}t j|||dz}||}|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 !!##,#FE22::54<HHv&&"-...1I "*@ *R*RSSSSr/c td)Nz$TODO : implement voxel concatenation)NotImplementedError)r+others r-__add__zVoxelGrid.__add__s!"HIIIr/)NN)rur4))__name__ __module__ __qualname____doc__r.r&propertyrr8r"setterr,rErGrIrLrNrSrcache_decoratorrrbrdr=rirtrxr|rrArrrWrrmrQrrrrrr/r-rrs^UUUU& % % %9999X9&&X&_ * *_ *&&X&(((++X+%%X%%%X%$++X+          &&&##X# (((2," @@@  # #X #  7 7 7  S S S,,X,####J , , ,GGGOOONNN<TTT2JJJJJr/r)rhashlibrnumpyrrrXrrrr constantsr exchange.binvoxr parentr r rrr"rrrrr/r-rs&&&&&&$$$$$$++++++))))))))))--------UJUJUJUJUJUJUJUJUJUJr/