Merge pull request #2278 from mikedh/fix/scene

Release: Scene Transform

.github/workflows/release.yml

@@ -143,4 +143,5 @@ jobs:
           tag_name: ${{ steps.set_tag.outputs.tag_name }}
           release_name: Release ${{ steps.set_tag.outputs.tag_name }}
           draft: false
+          body: ${{ github.event.head_commit.message }}
           prerelease: false

Dockerfile

@@ -21,6 +21,7 @@ RUN python3.12 -m venv venv
 
 # So scripts installed from pip are in $PATH
 ENV PATH="/home/user/venv/bin:$PATH"
+ENV VIRTUAL_ENV="/home/user/venv"
 
 # Install helper script to PATH.
 COPY --chmod=755 docker/trimesh-setup /home/user/venv/bin
@@ -29,24 +30,15 @@ COPY --chmod=755 docker/trimesh-setup /home/user/venv/bin
 ## install things that need building
 FROM base AS build
 
-USER root
-# install wget for fetching wheels
-RUN apt-get update && \
-    apt-get install --no-install-recommends -qq -y wget ca-certificates && \
-    apt-get clean -y 
-USER user
-
 # copy in essential files
 COPY --chown=499 trimesh/ /home/user/trimesh
 COPY --chown=499 pyproject.toml /home/user/
 
 # install trimesh into the venv
 RUN pip install /home/user[easy]
 
-# install FCL, which currently has broken wheels on pypi
-RUN wget https://github.com/BerkeleyAutomation/python-fcl/releases/download/v0.7.0.7/python_fcl-0.7.0.7-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl && \
-    pip install python_fcl*.whl && \
-    rm python_fcl*.whl
+# install FCL which currently has broken wheels on PyPi
+RUN pip install https://github.com/BerkeleyAutomation/python-fcl/releases/download/v0.7.0.7/python_fcl-0.7.0.7-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
 
 ####################################
 ### Build output image most things should run on

docs/content/contributing.md

@@ -73,8 +73,8 @@ When you remove the embed and see the profile result you can then tweak the line
 ### Automatic Formatting
 Trimesh uses `ruff` for both linting and formatting which is configured in `pyproject.toml`, you can run with:
 ```
-ruff . --fix
-ruff format .
+ruff check --fix
+ruff format
 ```
 
 ## Docstrings

pyproject.toml

@@ -5,7 +5,7 @@ requires = ["setuptools >= 61.0", "wheel"]
 [project]
 name = "trimesh"
 requires-python = ">=3.8"
-version = "4.4.8"
+version = "4.4.9"
 authors = [{name = "Michael Dawson-Haggerty", email = "[email protected]"}]
 license = {file = "LICENSE.md"}
 description = "Import, export, process, analyze and view triangular meshes."

tests/test_camera.py

@@ -116,6 +116,16 @@ def test_ray_index(self):
             assert all(rid.min(axis=0) == 0)
             assert all(rid.max(axis=0) == current - 1)
 
+    def test_scaled_copy(self):
+        s = g.get_mesh("cycloidal.3DXML")
+
+        s.units = "mm"
+        assert s.camera_transform.shape == (4, 4)
+
+        # the camera node should have been removed on copy
+        b = s.convert_units("m")
+        assert b.camera_transform.shape == (4, 4)
+
 
 if __name__ == "__main__":
     g.trimesh.util.attach_to_log()

tests/test_gltf.py

@@ -743,7 +743,7 @@ def test_load_empty_nodes(self):
     def test_same_name(self):
         s = g.get_mesh("TestScene.gltf")
         # hardcode correct bounds to check against
-        bounds = s.dump(concatenate=True).bounds
+        bounds = s.to_mesh().bounds
 
         # icosahedrons have two primitives each
         g.log.debug(len(s.geometry), len(s.graph.nodes_geometry))

tests/test_inertia.py

@@ -402,7 +402,7 @@ def test_scene(self):
         s._cache.clear()
 
         with g.Profiler() as P:
-            ms = s.dump(concatenate=True)
+            ms = s.to_mesh()
             total_dump = ms.moment_inertia
         g.log.debug(P.output_text())
 

tests/test_scene.py

@@ -461,7 +461,7 @@ def test_exact_bounds(self):
         m = g.get_mesh("cycloidal.3DXML")
         assert isinstance(m, g.trimesh.Scene)
 
-        dump = m.dump(concatenate=True)
+        dump = m.to_mesh()
         assert isinstance(dump, g.trimesh.Trimesh)
 
         # scene bounds should exactly match mesh bounds
@@ -475,7 +475,7 @@ def test_concatenate_mixed(self):
             ]
         )
 
-        dump = scene.dump(concatenate=True)
+        dump = scene.to_mesh()
         assert isinstance(dump, g.trimesh.Trimesh)
 
     def test_append_scenes(self):
@@ -493,7 +493,7 @@ def test_scene_concat(self):
         a = g.trimesh.Scene(
             [g.trimesh.primitives.Sphere(center=[5, 5, 5]), g.trimesh.primitives.Box()]
         )
-        c = a.dump(concatenate=True)
+        c = a.to_mesh()
         assert isinstance(c, g.trimesh.Trimesh)
         assert g.np.allclose(c.bounds, a.bounds)
 
@@ -502,7 +502,7 @@ def test_scene_concat(self):
 
         # scene 2D
         scene_2D = g.trimesh.Scene(g.get_mesh("2D/250_cycloidal.DXF").split())
-        concat = scene_2D.dump(concatenate=True)
+        concat = scene_2D.to_geometry()
         assert isinstance(concat, g.trimesh.path.Path2D)
 
         dump = scene_2D.dump(concatenate=False)
@@ -518,7 +518,7 @@ def test_scene_concat(self):
         assert len(dump) >= 5
         assert all(isinstance(i, g.trimesh.path.Path3D) for i in dump)
 
-        concat = scene_3D.dump(concatenate=True)
+        concat = scene_3D.to_geometry()
         assert isinstance(concat, g.trimesh.path.Path3D)
 
         mixed = list(scene_2D.geometry.values())
@@ -528,7 +528,7 @@ def test_scene_concat(self):
         dump = scene_mixed.dump(concatenate=False)
         assert len(dump) == len(mixed)
 
-        concat = scene_mixed.dump(concatenate=True)
+        concat = scene_mixed.to_geometry()
         assert isinstance(concat, g.trimesh.path.Path3D)
 
 

tests/test_scenegraph.py

@@ -142,7 +142,7 @@ def test_scene_transform(self):
         # copy the original bounds of the scene's convex hull
         b = scene.convex_hull.bounds.tolist()
         # dump it into a single mesh
-        m = scene.dump(concatenate=True)
+        m = scene.to_mesh()
 
         # mesh bounds should match exactly
         assert g.np.allclose(m.bounds, b)
@@ -160,6 +160,18 @@ def test_scene_transform(self):
         # should have moved from original position
         assert not g.np.allclose(m.convex_hull.bounds, b)
 
+    def test_simplify(self):
+        if not g.trimesh.util.has_module("fast_simplification"):
+            return
+
+        # get a scene graph
+        scene: g.trimesh.Scene = g.get_mesh("cycloidal.3DXML")
+
+        original = scene.to_mesh()
+
+        scene.simplify_quadric_decimation(percent=0.0, aggression=0)
+        assert len(scene.to_mesh().vertices) < len(original.vertices)
+
     def test_reverse(self):
         tf = g.trimesh.transformations
 
@@ -298,6 +310,24 @@ def test_translation_origin(self):
         s.apply_translation(-s.bounds[0])
         assert g.np.allclose(s.bounds[0], 0)
 
+    def test_reconstruct(self):
+        original = g.get_mesh("cycloidal.3DXML")
+        assert isinstance(original, g.trimesh.Scene)
+
+        # get the scene as "baked" meshes with no scene graph
+        dupe = g.trimesh.Scene(original.dump())
+        assert len(dupe.geometry) > len(original.geometry)
+
+        with g.Profiler() as P:
+            # reconstruct the instancing using `duplicate_nodes` and `procrustes`
+            rec = dupe.reconstruct_instances()
+        g.log.info(P.output_text())
+
+        assert len(rec.graph.nodes_geometry) == len(original.graph.nodes_geometry)
+        assert len(rec.geometry) == len(original.geometry)
+        assert g.np.allclose(rec.extents, original.extents, rtol=1e-8)
+        assert g.np.allclose(rec.center_mass, original.center_mass, rtol=1e-8)
+
 
 if __name__ == "__main__":
     g.trimesh.util.attach_to_log()

tests/test_voxel.py

@@ -163,7 +163,7 @@ def test_as_boxes(self):
         voxel = g.trimesh.voxel
 
         pitch = 0.1
-        origin = (0, 0, 1)
+        origin = [0, 0, 1]
 
         matrix = g.np.eye(9, dtype=bool).reshape((-1, 3, 3))
         centers = g.trimesh.voxel.ops.matrix_to_points(

trimesh/__init__.py

@@ -11,6 +11,7 @@
 # avoid a circular import in trimesh.base
 from . import (
     boolean,
+    bounds,
     caching,
     collision,
     comparison,
@@ -24,6 +25,7 @@
     grouping,
     inertia,
     intersections,
+    nsphere,
     permutate,
     poses,
     primitives,
@@ -45,7 +47,13 @@
 from .constants import tol
 
 # loader functions
-from .exchange.load import available_formats, load, load_mesh, load_path, load_remote
+from .exchange.load import (
+    available_formats,
+    load,
+    load_mesh,
+    load_path,
+    load_remote,
+)
 
 # geometry objects
 from .parent import Geometry
@@ -118,6 +126,5 @@
     "unitize",
     "units",
     "util",
-    "utilScene",
     "voxel",
 ]

trimesh/base.py

@@ -1112,9 +1112,9 @@ def merge_vertices(
         self,
         merge_tex: Optional[bool] = None,
         merge_norm: Optional[bool] = None,
-        digits_vertex: Optional[bool] = None,
-        digits_norm: Optional[bool] = None,
-        digits_uv: Optional[bool] = None,
+        digits_vertex: Optional[Integer] = None,
+        digits_norm: Optional[Integer] = None,
+        digits_uv: Optional[Integer] = None,
     ) -> None:
         """
         Removes duplicate vertices grouped by position and

trimesh/bounds.py

@@ -28,6 +28,9 @@ def oriented_bounds_2D(points, qhull_options="QbB"):
     """
     Find an oriented bounding box for an array of 2D points.
 
+    Details on qhull options:
+      http://www.qhull.org/html/qh-quick.htm#options
+
     Parameters
     ----------
     points : (n,2) float