| """ |
| 3D utility functions workings with NumPy. |
| """ |
| import importlib |
| import itertools |
| import numpy |
| from typing import TYPE_CHECKING |
|
|
|
|
| __modules_all__ = { |
| 'mesh':[ |
| 'triangulate', |
| 'compute_face_normal', |
| 'compute_face_angle', |
| 'compute_vertex_normal', |
| 'compute_vertex_normal_weighted', |
| 'remove_corrupted_faces', |
| 'merge_duplicate_vertices', |
| 'remove_unreferenced_vertices', |
| 'subdivide_mesh_simple', |
| 'mesh_relations', |
| 'flatten_mesh_indices' |
| ], |
| 'quadmesh': [ |
| 'calc_quad_candidates', |
| 'calc_quad_distortion', |
| 'calc_quad_direction', |
| 'calc_quad_smoothness', |
| 'sovle_quad', |
| 'sovle_quad_qp', |
| 'tri_to_quad' |
| ], |
| 'utils': [ |
| 'sliding_window_1d', |
| 'sliding_window_nd', |
| 'sliding_window_2d', |
| 'max_pool_1d', |
| 'max_pool_2d', |
| 'max_pool_nd', |
| 'depth_edge', |
| 'normals_edge', |
| 'depth_aliasing', |
| 'interpolate', |
| 'image_scrcoord', |
| 'image_uv', |
| 'image_pixel_center', |
| 'image_pixel', |
| 'image_mesh', |
| 'image_mesh_from_depth', |
| 'depth_to_normals', |
| 'points_to_normals', |
| 'depth_to_points', |
| 'chessboard', |
| 'cube', |
| 'icosahedron', |
| 'square', |
| 'camera_frustum', |
| ], |
| 'transforms': [ |
| 'perspective', |
| 'perspective_from_fov', |
| 'perspective_from_fov_xy', |
| 'intrinsics_from_focal_center', |
| 'intrinsics_from_fov', |
| 'fov_to_focal', |
| 'focal_to_fov', |
| 'intrinsics_to_fov', |
| 'view_look_at', |
| 'extrinsics_look_at', |
| 'perspective_to_intrinsics', |
| 'perspective_to_near_far', |
| 'intrinsics_to_perspective', |
| 'extrinsics_to_view', |
| 'view_to_extrinsics', |
| 'normalize_intrinsics', |
| 'crop_intrinsics', |
| 'pixel_to_uv', |
| 'pixel_to_ndc', |
| 'uv_to_pixel', |
| 'project_depth', |
| 'depth_buffer_to_linear', |
| 'unproject_cv', |
| 'unproject_gl', |
| 'project_cv', |
| 'project_gl', |
| 'quaternion_to_matrix', |
| 'axis_angle_to_matrix', |
| 'matrix_to_quaternion', |
| 'extrinsics_to_essential', |
| 'euler_axis_angle_rotation', |
| 'euler_angles_to_matrix', |
| 'skew_symmetric', |
| 'rotation_matrix_from_vectors', |
| 'ray_intersection', |
| 'se3_matrix', |
| 'slerp_quaternion', |
| 'slerp_vector', |
| 'lerp', |
| 'lerp_se3_matrix', |
| 'piecewise_lerp', |
| 'piecewise_lerp_se3_matrix', |
| 'apply_transform', |
| 'angle_diff_vec3' |
| ], |
| 'spline': [ |
| 'linear_spline_interpolate', |
| ], |
| 'rasterization': [ |
| 'RastContext', |
| 'rasterize_triangle_faces', |
| 'rasterize_edges', |
| 'texture', |
| 'warp_image_by_depth', |
| 'test_rasterization' |
| ], |
| } |
|
|
|
|
| __all__ = list(itertools.chain(*__modules_all__.values())) |
|
|
| def __getattr__(name): |
| try: |
| return globals()[name] |
| except KeyError: |
| pass |
|
|
| try: |
| module_name = next(m for m in __modules_all__ if name in __modules_all__[m]) |
| except StopIteration: |
| raise AttributeError(f"module '{__name__}' has no attribute '{name}'") |
| module = importlib.import_module(f'.{module_name}', __name__) |
| for key in __modules_all__[module_name]: |
| globals()[key] = getattr(module, key) |
| |
| return globals()[name] |
|
|
|
|
| if TYPE_CHECKING: |
| from .quadmesh import * |
| from .transforms import * |
| from .mesh import * |
| from .utils import * |
| from .rasterization import * |
| from .spline import * |
