TiM5ddlZddlmZddlmZddlmZmZm Z m Z dZ dZ e Z dd ed e eefd e efd Zd ZddZddZejfdZdZddZddZddZdS)N)util)log) ArrayLikeNumberOptionalUnioncB|jtjtjdDddidtj|fd}|d}t dt D] }tj|||}!|S) Nc3>K|]}tj|VdS)N)nparange).0ss K/DATA/AppData/hermes/venv/lib/python3.11/site-packages/trimesh/voxel/ops.py z$fill_orthographic.. s*22qbill222222indexingijaxiscd|f}|}||<tj||d}|}d|<tj||d}tj||k||kS)N.T)rkeepdimsr)copyr minmax logical_and)rbase_local_indices local_indicesminsmaxsemptyindicesshapes r fill_axisz$fill_orthographic..fill_axiss$S$Y/*//11 $T{ evm$>>>*//11 ! evm$>>>~ $ & $ &   rr)r$r stackmeshgrid logical_notrangelenr)denser%filledrr"r#r$s @@@rfill_orthographicr.s KEh 22E222BTBBG N5 ! !E        YA   FaU$$99 $88 Mrc tj|tj}tj|dst d|dz}tj|||ft}tj |d}d|t|j <t|D]}d}td|dz D]}g}tj |||dd f|||ddf}tjtj|ddz}t!|} | d zdko| d k}| d krtd| | d zz d D]} d||||| || dzf<|std|dz D]} g}tj ||dd | f||dd| f}tjtj|ddz}t!|} | d krttd| | d zz d D]} d|||| || dz| f<tjtj|} | dz} | S) z Given a sparse surface voxelization, fill in between columns. Parameters -------------- sparse_indices: (n, 3) int, location of filled cells Returns -------------- filled: (m, 3) int, location of filled cells dtyperzincorrect shaper3r&FrNr)r asanyarrayint64ris_shape ValueErrorrzerosbooladdtupleTr*equalwherer)r+ column_stack) sparse_indices max_valuegrid voxels_sparsei check_dir2jidxeqcrkr-s r fill_baserL#s]>BBBN = 1 1,*+++""$$q(I 8Y 95t < 1--M#$D}   9  44 q)a-(( 4 4AC$q!SbSy/41abb>::B(2>"--..q1A5CCAa%1.QJ1uu1a!a%i++ 4 423Q3q6CAJ..// 4  q)a-(( 4 4AC$q#2#qy/4122q>::B(2>"--..q1A5CCA1uu1a!a%i++ 4 423QAQU+Q.// 4 4_RXd^^ , ,F aKF Mr?matrixpitch thresholdchddlm}ddlm}|t j||k}nt j|t }t j|}d}t j||dd }t|d r|j }n|j }t j|}|j dkr|fd z}||d | }t|dkrtjd|\} } d} nt|dkr|\} } } } t j| ||z} || | | } | S)a& Convert an (n, m, p) matrix into a mesh, using marching_cubes. Parameters ----------- matrix : (n, m, p) bool Occupancy array pitch : float or length-3 tuple of floats, optional Voxel spacing in each dimension threshold : float or None, optional If specified, converts the input into a boolean matrix by considering values above `threshold` as True Returns ---------- mesh : trimesh.Trimesh Mesh generated by meshing voxels using the marching cubes algorithm in skimage r)measurerTrimeshNr0r&constant) pad_widthmodeconstant_valuesmarching_cubes_lewinerr3g?)volumelevelspacingz0using old marching cubes, may not be watertight!r4)verticesfacesvertex_normals)skimagerRbaserTr r5r:r)padhasattrrYmarching_cubessizer+rwarningsubtract)rNrOrPrRrT rev_matrixrVfuncmeshedr]r^normals_valsmeshs rmatrix_to_marching_cubesrncs2 v&&2vT222''JIy QJ w011&-% M% E zQ1  TF 6{{a FGGG % V  *0'%%{8Y%677H 7HE' J J JD Krctj|tj}tj|dst d|ddz}tjtj|t}tj tj|dd|ddg}||z d}d ||<| |}|S) a Take a sparse (n,3) list of integer indexes of filled cells, turn it into a dense (m,o,p) matrix. Parameters ----------- sparse : (n, 3) int Index of filled cells Returns ------------ dense : (m, o, p) bool Matrix of filled cells r0r2zsparse must be (n,3)!rrr&NrT) r r5r6rr7r8rr9prodr:arraysumreshape)sparser$rN multiplierindexr,s rsparse_to_matrixrws ]6 2 2 2F = ) )20111 JJAJ   "E XbgennD 1 1 1F2759--uQx;<zmultibox..+s$QQQAeAhhi7QQQrrr )r]r^ face_colors)rrarTr r5ryBox apply_scalerztiler+r]rsr^repeatr r{ face_normalsr|intsetmapr<rqonesr:asarrayndim)centersrOcolorsremove_internal_facesrrTbvf base_normalsrface_voxel_idx voxel_coordsvoxel_face_coordsneighbor_coords keep_maskrrmrs @rmultiboxrs,mG2:666G AMM%,, !S__-..66w??Ac'llA. / //A #g,,*++A29S\\**S__??  Ic'll # #S\\  x%0077<< E<0011 )8+l:HQQQQQQQRR GCFF$/// K F## ;!  D\((WA(>>F ;!  F s7|| ; ; ---33I>K 7AQy\{ K K KD Krcddl}tj|d|d|d|dg}|ddz }t tj|ddz}|||z jtj t|t|}|||z jtj t|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$)rtr rqrrr<ptpCOOr=rr+r:r@coords) ar operationrtextremar~resp_asp_bappliedrs rboolean_sparser<s%&MMMh1 quu!u}}aeeemmQUUPQU]]STTG [[a[ 1 $F a(((1, - -D ::q6zn273q66+F+F+Fd: S SD ::q6zn273q66+F+F+Fd: S SDid##G _W^ , ,v 5F Mrc8|j}t|}g}g}tt|D]}tt|tt|dz|z}t j||}t j|\}|d} |d} || | g|t| | |t|t j |tfS)Nr&rrr) r$r+r*r<r anynonzeroappendslicerqr) rr$ndimspaddingslicesdimrr-r#pad_left pad_rights r strip_arrayrcs JE JJEG FSZZ  22U3ZZ  5sQw)>)>#?#??4(((Z'' 1:BK ),--- eHi001111 f # 6 6 66rcDtj|}|jdddkrtdtj|tj}||t |z}|3tj|}|jdkrtd||z }|S)ak Convert indices of an (n,m,p) matrix into a set of voxel center points. Parameters ---------- indices: (q, 3) int, index of voxel matrix (n,m,p) pitch: float, what pitch was the voxel matrix computed with origin: (3,) float, what is the origin of the voxel matrix Returns ---------- points: (q, 3) float, list of points r&Nr3zshape of indices must be (q, 3)r0shape of origin must be (3,))r r5r$r8rqryrz)r#rOr~r}s rindices_to_pointsrssmG$$G}QRRD  :;;; XgRZ 0 0 0F %,, v&& <4  ;<< <& Mrcvtjtj|}t|||}|S)aS Convert an (n,m,p) matrix into a set of points for each voxel center. Parameters ----------- matrix: (n,m,p) bool, voxel matrix pitch: float, what pitch was the voxel matrix computed with origin: (3,) float, what is the origin of the voxel matrix Returns ---------- points: (q, 3) list of points )r#rOr~)r r@rr)rNrOr~r#r}s rmatrix_to_pointsrs6obj0011G weF K K KF Mrctj|tj}|j|jddfkrt d|3tj|}|jdkrt d||z}|||z}tj|tj}t |}tj|t}|S)a Convert center points of an (n,m,p) matrix into its indices. Parameters ---------- points : (q, 3) float Center points of voxel matrix (n,m,p) pitch : float What pitch was the voxel matrix computed with origin : (3,) float What is the origin of the voxel matrix Returns ---------- indices : (q, 3) int List of indices r0rr3zshape of points must be (q, 3)Nrr) r rqryr$r8r5rzr{r|r)r}rOr~r#s rpoints_to_indicesrs$XfBJ / / /F | Q+++9::: v&& <4  ;<< <& % ]6 4 4 4F %LLEhv%%c**G Nr)rMN)rM)rMNF)NN)numpyr rr constantsrtypedrrrr r.rLfill_voxelizationrnrwrrrrrrrrrrrrs6666666666666:::z '*"&HH H " #HHHHHV>DJJJJZ$&>$$$$N 7 7 7 <&""""""r