o }o™i†ã@sddlZGdd„dƒZdS)éNc@sŠeZdZdZdejddfdd„Zdejfdd„Zdejfd d „Z dejfd d „Z d ejdejfdd„Z dejdejdejde fdd„Z dS)ÚDeepMarchingTetrahedraaR Class for Deep Marching Tetrahedra (DMTet). Attributes: device (torch.device): Device to place the tensors. triangle_table (Tensor): Lookup table for the triangles. num_triangles_table (Tensor): Table for the number of triangles. base_tet_edges (Tensor): The base edges for the tetrahedrons. ÚdeviceÚreturnNcCs(||_| ¡|_| ¡|_| ¡|_dS)zInitialize DMTet instance with the given device. Args: device (torch.device): The device to place the tensors on. N)rÚ_create_triangle_tableÚtriangle_tableÚ_create_num_triangles_tableÚnum_triangles_tableÚ_create_base_tet_edgesÚbase_tet_edges)Úselfr©r úk/home/ubuntu/.local/lib/python3.10/site-packages/nemo/collections/multimodal/modules/nerf/geometry/dmtet.pyÚ__init__s  zDeepMarchingTetrahedra.__init__cCsttjgd¢gd¢gd¢gd¢gd¢gd¢gd¢gd¢gd ¢gd ¢gd ¢gd ¢gd ¢gd¢gd¢gd¢gtj|jdS)zpCreate the lookup table for triangles. Returns: Tensor: The triangle lookup table. )éÿÿÿÿrrrrr)érérrr)érérrr)rrrrrr)rrérrr)rrrrrr)rrrrrr)rrrrrr)rrrrrr)rrrrrr)rrrrrr)rrrrrr)rrrrrr)rrrrrr)rrrrrr©Údtyper©ÚtorchÚtensorÚlongr©r r r r r's*ðìz-DeepMarchingTetrahedra._create_triangle_tablecCótjgd¢tj|jdS)zwCreate the table for number of triangles. Returns: Tensor: The number of triangles table. )rrrrrrrrrrrrrrrrrrrr r r rDóz2DeepMarchingTetrahedra._create_num_triangles_tablecCr)z{Create the base edges for the tetrahedrons. Returns: Tensor: The base edges for tetrahedrons. ) rrrrrrrrrrrrrrrr r r r Lrz-DeepMarchingTetrahedra._create_base_tet_edgesÚ edges_ex2cCsŒt ¡2|dd…df|dd…dfk ¡}|jdd}tj||dd}tj|d|dd}Wdƒn1s9wYt ||gd¡S)zSort the given edges. Args: edges_ex2 (Tensor): The edges to be sorted. Returns: Tensor: The sorted edges. Nrr©Údim)ÚinputÚindexr r)rÚno_gradrÚ unsqueezeÚgatherÚstack)r rÚorderÚaÚbr r r Ú _sort_edgesTs $ üz"DeepMarchingTetrahedra._sort_edgesÚ positionsÚsdf_nÚtet_fx4c Csft ¡€|dk}|| d¡ dd¡}t |d¡}|dk|dk@}||}||dd…|jf dd¡}| |¡}tj|ddd\} } |  ¡} ||  d¡ dd¡ d¡dk} tj| j dtj|j d d} tj |  ¡tj|j d | | <| | } | | } Wdƒn1s‡wY||  d¡ ddd ¡}||  d¡ ddd¡}|dd…dfd9<|jddd }t  |dg¡|}|| d¡}|  dd ¡} t  dtj dtj|j d ¡}||| d¡ d¡}|j|}tjtj| |dkd|j||dkdd…dd …fd  dd ¡tj| |dkd|j||dkdd…dd …fd  dd ¡fdd}||fS)a_ Process the provided data to generate vertices and faces. Args: positions (Tensor): Position tensor with shape [N, 3]. sdf_n (Tensor): SDF tensor with shape [N]. tet_fx4 (Tensor): Tetrahedron faces tensor with shape [F, 4]. Returns: tuple: Vertices and faces tensors. rrrNrT)r Úreturn_inverserrr)Úkeepdimé)r!r r"r)rr#ÚreshapeÚsumr r*ÚuniquerÚonesÚshaperÚarangeÚflipÚpowr$rÚcatr%r)r r+r,r-Úocc_nÚocc_fx4Úocc_sumÚ valid_tetsÚ all_edgesÚ unique_edgesÚidx_mapÚ mask_edgesÚmappingÚinterp_vÚedges_to_interpÚedges_to_interp_sdfÚ denominatorÚvertsÚv_idÚtetindexÚ num_trianglesÚfacesr r r Ú__call__esV     î    ý  ýö ózDeepMarchingTetrahedra.__call__)Ú__name__Ú __module__Ú __qualname__Ú__doc__rrrÚTensorrrr r*ÚtuplerLr r r r rs  $r)rrr r r r Ús