primlib 0.3.0__py3-none-any.whl

primlib/visualizer.py

@@ -0,0 +1,179 @@
+import numpy as np
+import polyscope as ps
+
+from primlib.line_set import LineSet
+from primlib.point_cloud import PointCloud
+from primlib.triangle_mesh import TriangleMesh
+
+
+def _visualize_line_set(lineset: LineSet, params=None):
+    # Handle visualization parameters
+    default_params = {
+        "object": None,
+        "name": "Line Set",
+        "color": None,
+        "size": None,
+    }
+    if params is None:
+        params = {}
+    for p in params:
+        if p not in default_params:
+            raise Exception(f'Unknown parameter "{p}"')
+    params = default_params | params
+    # Visualize vertices and lines
+    ps_net = ps.register_curve_network(params["name"], lineset.vertices, lineset.lines)
+    ps_net.set_enabled(True)
+    if params["size"] is not None:
+        ps_net.set_radius(params["size"])
+    if params["color"] is None:
+        if lineset.has_colors:
+            ps_net.add_color_quantity(
+                "vertex colors", lineset.colors, enabled=True
+            )
+        elif lineset.has_line_colors:
+            ps_net.add_color_quantity(
+                "line colors", lineset.line_colors, defined_on="edges", enabled=True
+            )
+        else:
+            ps_net.set_color((0.0, 0.5, 0.5))
+    else:
+        ps_net.set_color(params["color"])
+
+
+def _visualize_point_cloud(pcl: PointCloud, params=None):
+    # Handle visualization parameters
+    default_params = {
+        "object": None,
+        "name": "Point Cloud",
+        "color": None,
+        "size": None,
+        "normals_show": False,
+        "normals_color": None,
+        "normals_every_nth": 1,
+        "normals_size": None,
+        "normals_length": 1.0,
+    }
+    if params is None:
+        params = {}
+    for p in params:
+        if p not in default_params:
+            raise Exception(f'Unknown parameter "{p}"')
+    params = default_params | params
+    # Visualize points
+    ps_cloud = ps.register_point_cloud(params["name"], pcl.vertices)
+    ps_cloud.set_point_render_mode("quad")
+    ps_cloud.set_enabled(True)
+    if params["size"] is not None:
+        ps_cloud.set_radius(params["size"])
+    if params["color"] is None:
+        if pcl.has_colors:
+            ps_cloud.add_color_quantity("point colors", pcl.colors, enabled=True)
+        else:
+            ps_cloud.set_color((0.0, 0.5, 0.5))
+    else:
+        ps_cloud.set_color(params["color"])
+    # Visualize normals
+    if pcl.has_normals and params["normals_show"]:
+        normals = np.full((pcl.size, 3), np.nan)
+        n = pcl.size // params["normals_every_nth"]
+        indices = np.random.choice(pcl.size, n, replace=False)
+        normals[indices] = pcl.normals[indices]
+        ps_cloud.add_vector_quantity(
+            "normals",
+            normals,
+            radius=params["normals_size"],
+            length=params["normals_length"],
+            color=params["normals_color"],
+            # vectortype="ambient",
+            enabled=True,
+        )
+
+
+def _visualize_triangle_mesh(mesh: TriangleMesh, params=None):
+    # Handle visualization parameters
+    default_params = {
+        "object": None,
+        "name": "Triangle Mesh",
+        "color": None,
+        "normals_show": False,
+        "normals_color": None,
+        "normals_every_nth": 1,
+        "normals_size": None,
+        "normals_length": 1.0,
+    }
+    if params is None:
+        params = {}
+    for p in params:
+        if p not in default_params:
+            raise Exception(f'Unknown parameter "{p}"')
+    params = default_params | params
+    # Visualize vertices and faces
+    ps_mesh = ps.register_surface_mesh(params["name"], mesh.vertices, mesh.faces)
+    ps_mesh.set_smooth_shade(True)
+    ps_mesh.set_back_face_policy("cull")
+    ps_mesh.set_enabled(True)
+    if params["color"] is None:
+        if mesh.has_colors:
+            ps_mesh.add_color_quantity("vertex colors", mesh.colors, enabled=True)
+        elif mesh.has_face_colors:
+            ps_mesh.add_color_quantity(
+                "face colors", mesh.face_colors, defined_on="faces", enabled=True
+            )
+        else:
+            ps_mesh.set_color((0.0, 0.5, 0.5))
+    else:
+        ps_mesh.set_color(params["color"])
+    # Visualize vertex normals
+    if mesh.has_normals and params["normals_show"]:
+        normals = np.full((mesh.num_vertices, 3), np.nan)
+        n = mesh.num_vertices // params["normals_every_nth"]
+        indices = np.random.choice(mesh.num_vertices, n, replace=False)
+        normals[indices] = mesh.normals[indices]
+        ps_mesh.add_vector_quantity(
+            "vertex normals",
+            normals,
+            radius=params["normals_size"],
+            length=params["normals_length"],
+            color=params["normals_color"],
+            # vectortype="ambient",
+            enabled=True,
+        )
+
+
+def _keyboard_callback():
+    if ps.imgui.IsKeyPressed(ps.imgui.ImGuiKey_Q):
+        ps.unshow()
+
+
+def visualize(objects):
+    ps.set_program_name("Lighthouse")
+    ps.set_verbosity(0)
+    ps.set_use_prefs_file(False)
+    ps.set_up_dir("z_up")
+    ps.init()
+    ps.remove_all_structures()
+    ps.reset_camera_to_home_view()
+    ps.set_give_focus_on_show(True)
+    # Disable the automatic ImGui window pane for callbacks
+    ps.set_open_imgui_window_for_user_callback(False)
+    # Register user callback function
+    ps.set_user_callback(_keyboard_callback)
+    for i, obj in enumerate(objects):
+        if isinstance(obj, LineSet):
+            _visualize_line_set(obj, {"name": f"Line Set {i}"})
+        elif isinstance(obj, PointCloud):
+            _visualize_point_cloud(obj, {"name": f"Point Cloud {i}"})
+        elif isinstance(obj, TriangleMesh):
+            _visualize_triangle_mesh(obj, {"name": f"Triangle Mesh {i}"})
+        elif isinstance(obj, dict):
+            if isinstance(obj["object"], LineSet):
+                _visualize_line_set(obj["object"], obj)
+            elif isinstance(obj["object"], PointCloud):
+                _visualize_point_cloud(obj["object"], obj)
+            elif isinstance(obj["object"], TriangleMesh):
+                _visualize_triangle_mesh(obj["object"], obj)
+            else:
+                raise TypeError(f"No known visualization for {type(obj['object'])}")
+        else:
+            raise TypeError(f"No known visualization for {type(obj)}")
+    ps.show()

primlib-0.3.0.dist-info/METADATA

@@ -0,0 +1,124 @@
+Metadata-Version: 2.4
+Name: primlib
+Version: 0.3.0
+Summary: Primlib: a Python framework for handling 3D geometric primitives
+Author-email: Philipp Roebrock <philipp.roebrock@fhgr.ch>
+License: MIT License
+        
+        Lighthouse: https://gitlab.com/proebrock/lighthouse/
+        Copyright (c) 2021 Philipp Roebrock
+        
+        Permission is hereby granted, free of charge, to any person obtaining a copy
+        of this software and associated documentation files (the "Software"), to deal
+        in the Software without restriction, including without limitation the rights
+        to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+        copies of the Software, and to permit persons to whom the Software is
+        furnished to do so, subject to the following conditions:
+        
+        The above copyright notice and this permission notice shall be included in all
+        copies or substantial portions of the Software.
+        
+        THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+        IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+        FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+        AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+        LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+        OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+        SOFTWARE.
+        
+Project-URL: Homepage, https://gitlab.com/proebrock/primlib
+Project-URL: Issues, https://gitlab.com/proebrock/primlib/issues
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: matplotlib
+Requires-Dist: numpy
+Requires-Dist: plyfile
+Requires-Dist: polyscope
+Requires-Dist: pyembree2
+Requires-Dist: scipy
+Requires-Dist: trafolib
+Provides-Extra: test
+Requires-Dist: pytest; extra == "test"
+Requires-Dist: pytest-cov; extra == "test"
+Provides-Extra: dev
+Requires-Dist: pytest; extra == "dev"
+Requires-Dist: pytest-cov; extra == "dev"
+Requires-Dist: ruff; extra == "dev"
+Dynamic: license-file
+
+# Primlib
+![Pipeline Status](https://gitlab.com/proebrock/primlib/badges/devel/pipeline.svg)
+![Coverage](https://gitlab.com/proebrock/primlib/badges/devel/coverage.svg)
+
+Library for processing geometrical primitives like point clouds or triangle meshes.
+
+## Features
+- Class representation of a point cloud
+- Class representation of a triangle mesh
+- Class representation of a line set
+- Main library has just NumPy and SciPy as external dependencies
+- Fast 3d visualization using Polyscope library
+- **Permissive License (MIT)**, code can be used in commercial software
+
+## Requirements
+- [Python](https://www.python.org/) >=3.10
+- [NumPy](https://numpy.org/)
+- [SciPy](https://scipy.org/)
+- [Matplotlib](https://matplotlib.org/)
+- [trafolib](https://gitlab.com/proebrock/trafolib) for represenation of rigid body transformations
+- [plyfile](https://pypi.org/project/plyfile/) for loading PLY files
+- [Polyscope](https://polyscope.run/py/) for visualization
+- [pyembree2](https://pypi.org/project/pyembree2/) as wrapper for Intel Embree for mesh-point distance computations
+- [pytest](https://docs.pytest.org/en/stable/) and [pytest-cov](https://pypi.org/project/pytest-cov/) for testing
+- [Ruff](https://github.com/astral-sh/ruff) for linting
+
+All dependencies are declared in [`pyproject.toml`](pyproject.toml).
+
+## Installation
+It is strongly recommended to use a **virtual environment**.
+
+### For Users (Runtime Only)
+This will install the core libraries needed to run Primlib, without any development tools or tests.
+
+```bash
+pip install primlib
+```
+
+### 2. For Developers
+This installation is for **contributors** who want to run tests or modify the code.
+
+1. Clone the repository:
+    ```bash
+    git clone https://gitlab.com/proebrock/primlib.git
+    cd primlib
+    ```
+2. Create a virtual environment (recommended):
+    ```bash
+    python -m venv .venv
+    source .venv/bin/activate  # Linux / macOS
+    .venv\Scripts\activate     # Windows
+    ```
+   
+3. Install the project with development extras:
+    ```bash
+    pip install -e ".[dev]"
+    ```
+4. Run ruff:
+   - As a linter:
+     ```bash
+     ruff check
+     ```
+   - As a formatter:
+     ```bash
+     ruff format
+     ```
+5. Run all tests:
+    ```bash
+    pytest
+    ```
+
+## About me and the project
+My name is Philipp Roebrock and I work as a lecturer at the Institute for Photonics and Robotics at the University of Applied Sciences of the Grisons [FHGR](https://www.fhgr.ch/) in Chur in Switzerland.
+
+If you have any questions or suggestions please drop and issue or a personal message to `philipp DOT roebrock AT fhgr DOT ch`.

primlib-0.3.0.dist-info/RECORD

@@ -0,0 +1,13 @@
+primlib/__init__.py,sha256=2lTZ3JoTOEvRMKVFwp39BWxGxVEO_NwHuVFJM7-3cUI,159
+primlib/_version.py,sha256=RCY04NY0kBCyn6ttH6lnVL6Gz2gceOrt45f0yDOOU8A,520
+primlib/line_set.py,sha256=_mpAjHKVJWOKWgxkF0-NKXzcnllBB1Vsxz613mciAGU,15013
+primlib/point_cloud.py,sha256=UWKDISUScSimrR9RaP8sVUlhZ7KihtkIVinok6yVFbs,27889
+primlib/triangle_mesh.py,sha256=OtDG5OgdXDJF432wHopgsJHdVzdSk1ucw2pua1Y4Bak,75232
+primlib/utils.py,sha256=JjA3xX2vJY3OjOrjiaCYfz7SIpLEpHIXVtdTRs8VK8w,1766
+primlib/vertices.py,sha256=u2hV9rFvp6vz9d_vzfzeDhlCqs9MY7flnSv1dk-VHTU,21643
+primlib/visualizer.py,sha256=gss7QQYIEw0V8ao9902XlzDN9Sq2Ev9K9S9kaJLQsOg,6261
+primlib-0.3.0.dist-info/licenses/LICENSE,sha256=3qmCAKk6lAm3e04gpoSpxPED2PrFm-7F0_FxdPs7Tt0,1126
+primlib-0.3.0.dist-info/METADATA,sha256=00nibDF7AyWdsltMLZY1UBhmL8uKa9RU5uIlaAosvm4,4730
+primlib-0.3.0.dist-info/WHEEL,sha256=mOdXR9C3wMVov7cSY8PY-XCzo3SmmWCHvGQr5csJoao,91
+primlib-0.3.0.dist-info/top_level.txt,sha256=2RIG5bcqke8OHr9AWqDofmb03VQXtJyyGnivp3_yERM,8
+primlib-0.3.0.dist-info/RECORD,,

primlib-0.3.0.dist-info/WHEEL

@@ -0,0 +1,5 @@
+Wheel-Version: 1.0
+Generator: setuptools (84.2.1)
+Root-Is-Purelib: true
+Tag: py3-none-any
+

primlib-0.3.0.dist-info/licenses/LICENSE

@@ -0,0 +1,22 @@
+MIT License
+
+Lighthouse: https://gitlab.com/proebrock/lighthouse/
+Copyright (c) 2021 Philipp Roebrock
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

primlib-0.3.0.dist-info/top_level.txt

@@ -0,0 +1 @@
+primlib