fastdev.geom.warp_meshes

Module Contents

class fastdev.geom.warp_meshes.WarpMeshes(warp_meshes: List[warp.Mesh], warp_meshes_first_idx: jaxtyping.Int[torch.Tensor, num_scenes])

A lightweight wrapper for batched warp meshes.

Parameters:

• warp_meshes (List[warp.Mesh])

• warp_meshes_first_idx (jaxtyping.Int[torch.Tensor, num_scenes])

static from_files(filenames: List[str], filenames_first_idx: jaxtyping.Int[torch.Tensor, num_scenes], device: Device = 'cpu')

Parameters:

• filenames (List[str])

• filenames_first_idx (jaxtyping.Int[torch.Tensor, num_scenes])

• device (Device)

static from_trimesh_meshes(meshes: List[trimesh.Trimesh], meshes_first_idx: jaxtyping.Int[torch.Tensor, num_scenes], device: Device = 'cpu') → WarpMeshes

Parameters:

• meshes (List[trimesh.Trimesh])

• meshes_first_idx (jaxtyping.Int[torch.Tensor, num_scenes])

• device (Device)

Return type:

WarpMeshes

property num_scenes: int

Return type:

int

property num_meshes: int

Return type:

int

query_signed_distances(query_points: jaxtyping.Float[torch.Tensor, num_points 3], query_points_first_idx: jaxtyping.Int[torch.Tensor, num_scenes], mesh_poses: Optional[jaxtyping.Float[torch.Tensor, num_meshes 4 4]] = None, mesh_scales: Optional[jaxtyping.Float[torch.Tensor, num_meshes]] = None, max_dist: float = 1000000.0) → Tuple[jaxtyping.Float[torch.Tensor, num_points], jaxtyping.Float[torch.Tensor, num_points 3], jaxtyping.Float[torch.Tensor, num_points 3]]

Query signed distances.

Returns:

differentiable signed distances (num_points). torch.Tensor: normals (num_points, 3). torch.Tensor: closest points (num_points, 3).

Return type:

torch.Tensor

Parameters:

• query_points (jaxtyping.Float[torch.Tensor, num_points 3])

• query_points_first_idx (jaxtyping.Int[torch.Tensor, num_scenes])

• mesh_poses (Optional[jaxtyping.Float[torch.Tensor, num_meshes 4 4]])

• mesh_scales (Optional[jaxtyping.Float[torch.Tensor, num_meshes]])

• max_dist (float)

__repr__() → str

Return type:

str

__str__() → str

Return type:

str