fastdev.geom.warp_scene

Module Contents

fastdev.geom.warp_scene.Device

class fastdev.geom.warp_scene.Scene(num_scenes: int, device: Device = 'cpu')

Class to manage multiple scenes

Parameters:

• num_scenes (int)

• device (Device)

device = 'cpu'

num_scenes

add_meshes_from_files(filenames: List[str], scene_indices: jaxtyping.Int[torch.Tensor, num_meshes], scales: Optional[jaxtyping.Float[torch.Tensor, num_meshes 3]] = None, poses: Optional[jaxtyping.Float[torch.Tensor, num_meshes 4 4]] = None)

Parameters:

• filenames (List[str])

• scene_indices (jaxtyping.Int[torch.Tensor, num_meshes])

• scales (Optional[jaxtyping.Float[torch.Tensor, num_meshes 3]])

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

add_boxes(sizes: jaxtyping.Float[torch.Tensor, num_boxes 3], scene_indices: jaxtyping.Int[torch.Tensor, num_boxes], scales: Optional[jaxtyping.Float[torch.Tensor, num_boxes]] = None, poses: Optional[jaxtyping.Float[torch.Tensor, num_boxes 4 4]] = None)

Parameters:

• sizes (jaxtyping.Float[torch.Tensor, num_boxes 3])

• scene_indices (jaxtyping.Int[torch.Tensor, num_boxes])

• scales (Optional[jaxtyping.Float[torch.Tensor, num_boxes]])

• poses (Optional[jaxtyping.Float[torch.Tensor, num_boxes 4 4]])

abstractmethod add_spheres()

build() → None

Return type:

None

query_signed_distances(query_points: jaxtyping.Float[torch.Tensor, num_points 3], query_points_first_idx: jaxtyping.Int[torch.Tensor, num_scenes], max_dist: float = 1000000.0) → torch.Tensor

Parameters:

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

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

• max_dist (float)

Return type:

torch.Tensor

property num_meshes: int

Return type:

int

property num_boxes: int

Return type:

int

__repr__() → str

Return type:

str

__str__() → str

Return type:

str

static load_warp_mesh_cached(mesh_path: str, device: Device = 'cpu') → warp.Mesh

Parameters:

• mesh_path (str)

• device (Device)

Return type:

warp.Mesh