MiM5SSKrSSKJr SSKJr SSKJrJrJ r J r Sr Sr \ r SS\S \ \\4S \ \4S jjrS rSS jrSSjr\R$4SjrSrSSjrSSjrSSjrg)N)util)log) ArrayLikeNumberOptionalUnionc<^^^URm[R"[R"ST5SS06SS9m[R"U5mUUU4SjnU"SS9n[ S[ T55Hn[R"X!"U55nM! 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Parameters -------------- sparse_indices: (n, 3) int, location of filled cells Returns -------------- filled: (m, 3) int, location of filled cells dtyperzincorrect shaper5r(FrNr)r asanyarrayint64ris_shape ValueErrorrzerosbooladdtupleTr,equalwherer+r- column_stack) sparse_indices max_valuegrid voxels_sparsei check_dir2jidxeqcrkr/s r fill_baserN#s0]]>BN == 1 1*++""$q(I 88Y95t 1-M#$D}  9  q)a-(AC$!SbSy/41ab>:B((2>>"-.q1A5CCAa%1.QJ1u1aa%i+23q6CAJ../,) q)a-(AC$#2#qy/412q>:B((2>>"-.q1A5CCA1u1aa%i+23U+Q./,)%<__RXXd^ ,F aKF Mr'matrixpitch thresholdcdSSKJn SSKJn Ub[R "U5U:nO[R "U[ S9n[R"U5nSn[R"XVSSS 9n[US 5(a URnO URn[R "U5nURS:XaU4S -nU"US US 9n[U5S:Xa[R"S5 UupSn O[U5S:XaUupp[R "W Xa-5n U"U W W S9n U $)a Convert an (n, m, p) matrix into a mesh, using marching_cubes. Parameters ----------- matrix : (n, m, p) bool Occupancy array pitch : float or length-3 tuple of floats, optional Voxel spacing in each dimension threshold : float or None, optional If specified, converts the input into a boolean matrix by considering values above `threshold` as True Returns ---------- mesh : trimesh.Trimesh Mesh generated by meshing voxels using the marching cubes algorithm in skimage r)measurerTrimeshNr2r(constant) pad_widthmodeconstant_valuesmarching_cubes_lewinerr5g?)volumelevelspacingz0using old marching cubes, may not be watertight!r6)verticesfacesvertex_normals)skimagerSbaserUr r7r<r+padhasattrrZmarching_cubessizer-rwarningsubtract)rOrPrQrSrU rev_matrixrWfuncmeshedr^r_normals_valsmeshs rmatrix_to_marching_cubesrocs!2 v&2vT2'JI QJ w011--%% MM% E zzQ1  F 6{a FG  V *0'{{8Y%67H HE' JD Kr'c[R"U[RS9n[R"US5(d [ S5eUR SS9S-n[R"[R"U5[S9n[R"[R"USS5USS/5nX-RSS9nS X$'URU5nU$) z Take a sparse (n,3) list of integer indexes of filled cells, turn it into a dense (m,o,p) matrix. Parameters ----------- sparse : (n, 3) int Index of filled cells Returns ------------ dense : (m, o, p) bool Matrix of filled cells r2r4zsparse must be (n,3)!rrr(NrT) r r7r8rr9r:rr;prodr<arraysumreshape)sparser$rO multiplierindexr.s rsparse_to_matrixrxs ]]6 2F == ) )011 JJAJ  "E XXbggenD 1F27759-uQx;rronesr<asarrayndim)centersrPcolorsremove_internal_facesrrUbvf base_normalsrface_voxel_idx voxel_coords voxel_setvoxel_face_coordsneighbor_coordsrL keep_maskrrns rmultiboxrsR,mmG2::6G AMM%, !S_-.66w?Ac'lA. //A #g,*+A299S\*S_?  IIc'l #S\ xx077< E<01 )8+:HHQAeAhi7QR GGCF$/ K F# ;;! D\((WA(>F ;;! F s7| ; ---3I>K Ay\{ KD KRsL+c ZSSKn[R"URSS9UR SS9URSS9UR SS9/5nURSS9S- n[ [R "USS9S-5nURX- R[R"[U5[S9US9nURX- R[R"[U5[S9US9nU"Xx5n [R"U R5U-n U $)aV Find common rows between two arrays very quickly using 3D boolean sparse matrices. Parameters ----------- a: (n, d) int, coordinates in space b: (m, d) int, coordinates in space operation: numpy operation function, ie: np.logical_and np.logical_or Returns ----------- coords: (q, d) int, coordinates in space rNrr(rr2)datar$)rur rrrrr>ptpCOOr?rr-r<rBcoords) ar operationruextremarrfsp_asp_bappliedrs rboolean_sparser<s&hh1 quu!u}aeeemQUUPQU]STG [[a[ 1 $F a(1, -D ::qznn2773q6+Fd: SD ::qznn2773q6+Fd: SD#G __W^^ ,v 5F Mr'cURn[U5n/n/n[[U55Hn[[U55[[US-U55-n[R "XS9n[R "U5unUSn USn URX/5 UR[X55 M U[U5[R"U[54$)Nr(rrr) r$r-r,r>r anynonzeroappendslicerrr) rr$ndimspaddingslicesdimrr/r#pad_left pad_rights r strip_arrayrcs JJE JEG FSZ U3Z 5sQw)>#??(ZZ' 1:BK ,- eH01! f # 6 66r'cF[R"U5nURSSS:wa [S5e[R"U[R S9nUbU[ U5-nUb5[R"U5nURS:wa [S5eX2- nU$)aC Convert indices of an (n,m,p) matrix into a set of voxel center points. Parameters ---------- indices: (q, 3) int, index of voxel matrix (n,m,p) pitch: float, what pitch was the voxel matrix computed with origin: (3,) float, what is the origin of the voxel matrix Returns ---------- points: (q, 3) float, list of points r(Nr5zshape of indices must be (q, 3)r2shape of origin must be (3,))r r7r$r:rrrzr{)r#rPrr~s rindices_to_pointsrssmmG$G}}QRD :;; XXgRZZ 0F %, v& <<4 ;< < Mr'cn[R"[R"U55n[X1US9nU$)a+ 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#rPr)r rBrr)rOrPrr#r~s rmatrix_to_pointsrs,oobjj01G wF KF Mr'c[R"U[RS9nURURSS4:wa [ S5eUb5[R "U5nURS:wa [ S5eX-nUbX-n[R "U[RS9n[ U5n[R"U5R[5nU$)aI Convert center points of an (n,m,p) matrix into its indices. Parameters ---------- points : (q, 3) float Center points of voxel matrix (n,m,p) pitch : float What pitch was the voxel matrix computed with origin : (3,) float What is the origin of the voxel matrix Returns ---------- indices : (q, 3) int List of indices r2rr5zshape of points must be (q, 3)rr) r rrrzr$r:r7r{r|r}r)r~rPrr#s rpoints_to_indicesrs$XXfBJJ /F || Q++9:: v& <<4 ;< <  ]]6 4F %LEhhv%%c*G Nr')?N)r)rNF)NN)numpyr rr constantsrtypedrrrr r0rNfill_voxelizationrorxrrrrrrrrr'rrs666:z '*"&H H " #HHV>DJZ$&>>$N 7 <&"r'