sdf.py 文件源码

def surface_points(self, grid_basis=True):
        """Returns the points on the surface.

        Parameters
        ----------
        grid_basis : bool
            If False, the surface points are transformed to the world frame.
            If True (default), the surface points are left in grid coordinates.

        Returns
        -------
        :obj:`tuple` of :obj:`numpy.ndarray` of int, :obj:`numpy.ndarray` of float
            The points on the surface and the signed distances at those points.
        """
        surface_points = np.where(np.abs(self.data_) < self.surface_thresh_)
        x = surface_points[0]
        y = surface_points[1]
        z = surface_points[2]
        surface_points = np.c_[x, np.c_[y, z]]
        surface_vals = self.data_[surface_points[:,0], surface_points[:,1], surface_points[:,2]]
        if not grid_basis:
            surface_points = self.transform_pt_grid_to_obj(surface_points.T)
            surface_points = surface_points.T

        return surface_points, surface_vals