Miw1SrSSKJr SSKrSSKJr SSKJrJ r SSKJ r SSK J r SS KJr SS KJr S S KJrJrJr S S KJrJr "SS\5rg)zW voxel.py ----------- Convert meshes to a simple voxel data structure and back again. )sha256N)bounds)cachingutil)transformations)log) export_binvox)Geometry) morphologyops transforms) DenseEncodingEncodingcn\rSrSrSrS(SjrSr\S\4Sj5r \S5r \ RS 5r \S 5r \ RS 5r \S 5r \S 5r\S5r\S5rSrSr\R(S5r\R(S5r\R(S5r\S5r\R(S5rSrS)SjrSr\R(S5r\S5r\R(S5r\R(S5r \S5r!S*Sjr"S r#S!r$S"r%S#r&S(S$jr'S%r(S&r)S'r*g)+ VoxelGridz Store 3D voxels. NcbUc[R"S5n[U[R5(a[ UR [ 55nUR[ :wa [S5e[R"5Ul Xl [R"X RS9Ul[R "URR"S9Ul0Ul[U[(5(aUR&R+U5 gUb[SU<35eg)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/var/www/eduai.edurigo.com/storigo/production/storigo_env/lib/python3.13/site-packages/trimesh/voxel/base.py__init__VoxelGrid.__init__s  q I h + +$X__T%:;H >>T !<= =&&(  $..yJJOmm 0C0CD  h % % MM  *  !FxlST T"c6URR5$)zu Get the hash of the current transformation matrix. Returns ------------ hash : str Hash of transformation matrix )r"r'r,s r.r'VoxelGrid.__hash__.szz""$$r1returncb[[U5R55R5$N)rhashto_bytes hexdigestr3s r.identifier_hashVoxelGrid.identifier_hash9s#d4j))+,6688r1c URS$)zd `Encoding` object providing the occupancy grid. See `trimesh.voxel.encoding` for implementations. r#)r"r3s r.r#VoxelGrid.encoding=szz*%%r1cz[U[R5(a [U5nO$[U[5(d[ SU<35e[ UR5S:wa[ SUR<35eUR[:wa[ SUR35eXRS'g)Nz"encoding must be an Encoding, got z#encoding must be rank 3, got shape zencoding must be binary, got r#) rrrrrr lenshaperrr")r,r#s r.r#r>Fs h + +$X.HHh//A(NO O x~~ ! #B8>>BTUV V >>T !(>wq!t}(Mrr1u% r1cJURn[R"URSS9S- UR SS9S-/5nUR R U5n[R"URSS9UR SS9/5nSURl U$)Nraxisg?F) sparse_indices bounds_modulecornersminmaxr%transform_pointsrarrayflags writeable)r,indicesrers r.rVoxelGrid.boundss%%'' [[a[ 3 &  (;c(A B //227;7;;A;.  0CDE!&  r1cVURnUSUS- nSURlU$)Nr rF)rrjrk)r,rextentss r.roVoxelGrid.extentss.)fQi'"' r1c.URR$r7)r#is_emptyr3s r.rrVoxelGrid.is_emptys}}%%%r1c.URR$)z13-tuple of ints denoting shape of occupancy grid.)r#rBr3s r.rBVoxelGrid.shapes}}"""r1cJURRR5$)z+int, number of occupied voxels in the grid.)r#sumitemr3s r. filled_countVoxelGrid.filled_counts}}  %%''r1c[R"U5nURU5n[R"[R"U[R "UR 5:SS9[R"US:SS95n[R"U5nURRX#5XC'U$)z 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 rar) r asanyarraypoints_to_indices logical_andallrirB zeros_liker# gather_nd)r,pointrlin_range is_filleds r.rVoxelGrid.is_filleds e$((/>> FF7RXXdjj11 ;RVVGqLWY=Z MM(+ "mm55g6GH r1c V[R"UR4SU0UD6UlU$)ag 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,rkwargss r.rVoxelGrid.fills'&# OfOO  r1cP[R"UR5UlU$)a Mutates self by removing internal voxels leaving only surface elements. Surviving elements are those in encoding that are adjacent to an empty voxel where adjacency is controlled by `structure`. Returns ---------- self : VoxelGrid After replacing encoding with a surface version. )r surfacer#r3s r.hollowVoxelGrid.hollows#**4==9  r1c>[R"URS9$)ab 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. )rF)rmatrix_to_marching_cubesrFr3s r.marching_cubesVoxelGrid.marching_cubess++4;;??r1c.URR$)z Return a DENSE matrix of the current voxel encoding. Returns ------------- dense : (a, b, c) bool Numpy array of dense matrix Shortcut to voxel.encoding.dense )r#denser3s r.rFVoxelGrid.matrixs}}"""r1c4URUR-$)z What is the volume of the filled cells in the current voxel object. Returns --------- volume : float Volume of filled cells. )ryrUr3s r.volumeVoxelGrid.volumes  4#6#666r1crURRURR[55$)z| The center of each filled cell as a list of points. Returns ---------- points : (self.filled, 3) float Points in space. )r%rhrcrfloatr3s r.pointsVoxelGrid.points!s*//0C0C0J0J50QRRr1c.URR$)z6(n, 3) int array of sparse indices of occupied voxels.)r#rcr3s r.rcVoxelGrid.sparse_indices-s}}+++r1c Ub[R"U5nURS:XaQURnURSSUR:XaXR nOA[ R"S5 SnO(URS;a[ R"S5 Sn[R"URR[5US9nURUR5nU$)a1 A rough Trimesh representation of the voxels with a box for each filled voxel. Parameters ---------- colors : None, (3,) or (4,) float or uint8 (X, Y, Z, 3) or (X, Y, Z, 4) float or uint8 Where matrix.shape == (X, Y, Z) Returns --------- mesh : trimesh.Trimesh Mesh with one box per filled cell. Nrr@zcolors incorrect shape!)r@)r)centerscolors)rr}ndimr#rBrr warningrmultiboxrcrrrXr-)r,rrr#meshs r.as_boxesVoxelGrid.as_boxes2s"  ]]6*F{{a==<<#x~~5$NN3FKK 9:!F\1 56||D$7$7$>$>u$EfU##DNN3 r1cURRU5n[R"U5R [ 5$)z Convert points to indices in the matrix array. Parameters ---------- points: (n, 3) float, point in space Returns --------- indices: (n, 3) int array of indices into self.encoding )r%inverse_transform_pointsrroundrint)r,rs r.r~VoxelGrid.points_to_indicesWs299&Axx&&s++r1c^URRUR[55$r7)r%rhrr)r,rls r.r\VoxelGrid.indices_to_pointsfs //u0EFFr1cdURURSS55R"U0UD6$)zt Convert the current set of voxels into a trimesh for visualization and show that via its built- in preview method. rN)rpopshow)r,argsrs r.rVoxelGrid.showis. }}VZZ$78==tNvNNr1c[URR5URRR55$r7)rr#copyr%rFr3s r.rVoxelGrid.copyps/++-t/E/E/J/J/LMMr1c [U[5(a'Uc$[R"U5R 5nUS:wa [ S5e[ U40UD6n[US5(aURU5 U$[U[5(a([US5nURU5 SSS5 U$U$!,(df  U$=f)z 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_extensionlowerr r hasattrropen)r,file_obj file_typerexportedfs r.exportVoxelGrid.exportss h $ $):,,X6<<>I  => > 00 8W % % NN8 $# & &h%!&x&%s B== C cN[U5nURR5nURn[R "X!5R US-5nURU5nU[R"U5- nUSn[U[R"Xg5S9$)a 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-) tuplerrror grid_linspacereshaperrr}rtrscale_and_translate)r,rBrrorrrN translates r. revoxelizedVoxelGrid.revoxelizeds e !!#,,##F2::54<Hv&"--..1I "*@*@*RSSr1c[S5e)Nz$TODO : implement voxel concatenation)NotImplementedError)r,others r.__add__VoxelGrid.__add__s!"HIIr1)r(r"r%r#r))NN)holesr7)+__name__ __module__ __qualname____firstlineno____doc__r/r'propertyrr;r#setterr-rKrNrQrUrXr^rcache_decoratorrrorrrBryrrrrrFrrrcrr~r\rrrrr__static_attributes__r1r.rrsU& %999&&__ * *&&((++%%%%$++       &&## ((2," @@  # #  7 7  S S,,#J ,GON<T2Jr1r)rhashlibrnumpyrrrdrrrr constantsr exchange.binvoxr parentr r rrr#rrrrr1r.rs=&$+))-UJUJr1